Climbing-type work device

Abstract

To provide climbing-type work equipment and work systems that can improve safety and work efficiency. [Solution] The climbing work devices 10, 40, 50, 60, and 70 are movable along a columnar body 1 and comprise a plurality of traveling bodies 31 distributed in the circumferential direction of the columnar body 1, and a pressing mechanism 32 that presses the traveling bodies 31 against the columnar body 1, and are configured to climb while following changes in the diameter or outer circumference shape of the columnar body 1. The climbing work devices 10, 40, 50, 60, and 70 can be equipped with interchangeable work modules 11, 41, 51, 61, and 71, and can perform tasks such as pruning, felling, diagnosis, and disease prevention treatment, and can be attached to the columnar body 1 while being transported by an aerial flying vehicle 300. By coordinating the operation of multiple climbing work devices 10, 40, 50, 60, and 70 and the aerial flying vehicle 300, coordinated work including upper support and lower cutting of trees is made possible.

Description

Technical Field

[0001] The present invention relates to a climbing work device movable along a columnar body, and further relates to a work system having the climbing work device.

Background Art

[0002] In operations such as forest management, maintenance and management of street trees or garden trees, and inspection of columnar structures, it is necessary to perform work while moving along the height direction of the target object, and it is common for workers to carry out such work using ladders, aerial work platforms and the like. In particular, pruning and felling in forest management, and pruning in the maintenance and management of street trees, garden trees and the like rely on manual labor.

[0003] However, such operations often involve working at height, and ensuring the safety of workers becomes an issue. In addition, since the terrain is uneven in natural environments such as forests and mountain forests, it is often difficult to easily use machines such as aerial work platforms, leading to problems of low work efficiency and heavy burden on workers. In order to solve such problems, climbing work devices that can move along columnar bodies such as tree trunks and columnar structures have been proposed. In addition, tree trunks often have diameter variations, curvatures, surface irregularities and the like, which may make stable gripping and movement difficult with conventional devices.

[0004] For example, as such a climbing work device, there is a climbing work device that includes a device main body having a plurality of wheels that abut on the outer periphery of a tree trunk to hold the trunk, and a rotary blade attached to the main body, wherein the device main body can ascend by driving at least a part of the plurality of wheels, and the branches of the tree can be cut by the rotation of the rotary blade (see, for example, Patent Document 1). Further, there is a climbing work device in which such a device main body is formed in a ring shape so as to surround the entire tree trunk (see, for example, Patent Document 2). In addition, a climbing work device that moves while gripping a tree trunk with a plurality of traveling bodies has also been proposed (see, for example, Patent Document 3).

Prior Art Documents

[0005] [Patent Document 1] Japanese Patent Application Publication No. 10-191811 [Patent Document 2] Japanese Patent Publication No. 2011-217688 [Patent Document 3] Japanese Patent Publication No. 2021-019583 [Overview of the project] [Problems that the invention aims to solve]

[0006] However, with the climbing work devices described above, there is a risk that they may not be able to follow changes in the diameter and inclination of the columnar body, or irregularities in the outer surface of the columnar body, making stable climbing and descending difficult. If the columnar body is a tree trunk, branches protrude from the trunk, and such branches become obstacles, making it difficult to continue climbing and descending stably depending on the purpose of maintenance. For example, in tree inspections, it is necessary to perform inspection work up to the top or near the top of the tree, and branches become obstacles. Also, if the columnar body is a utility pole, protruding parts such as scaffolding bolts become obstacles. In particular, if the device body is formed in a ring shape to surround the entire columnar body, it is difficult to continue climbing and descending stably while avoiding obstacles such as branches, and there is also the problem of difficulty in attaching it to the columnar body.

[0007] In other words, the challenge for climbing work devices is to enable stable climbing and descending by being able to follow changes in the diameter and inclination of the columnar body, as well as irregularities in the outer surface of the columnar body. In particular, when the columnar body is a tree trunk, the challenge is to improve the efficiency of work such as pruning and felling. Furthermore, the challenge is to improve safety and work efficiency by enabling stable climbing and descending while avoiding obstacles such as branches.

[0008] In the forest management described above, a variety of tasks are required in addition to pruning, such as felling trunks, diagnosing growth conditions, disease prevention treatment, pesticide application, and removal of branches, trunks, etc. However, many of these tasks are still performed manually. Therefore, the challenge is to improve safety and work efficiency by automating or streamlining these tasks.

[0009] Furthermore, in forest management, systems for identifying or managing individual trees are often not adequately established, leading to the risk of mistakenly performing work on trees that are not intended for treatment. Therefore, there is a need to introduce systems that enable the identification and proper management of individual trees, and from this perspective, improving work efficiency while preventing errors is a challenge.

[0010] Furthermore, climbing-type work equipment is often configured to be specialized for specific tasks, making it inflexible to handle multiple tasks such as pruning, trunk felling, growth diagnosis, disease prevention treatment, pesticide spraying, and removal of branches, trunks, etc. Therefore, the challenge is to enable the exchange of modules according to the work content, thereby flexibly handling a variety of tasks.

[0011] The object of the present invention is to provide a climbing-type work device and work system that can improve safety and work efficiency, taking into account the above circumstances. [Means for solving the problem]

[0012] To solve the above problems, a climbing work device according to one embodiment is a climbing work device that is movable along a columnar body, comprising a device body arranged along the outer circumference of the columnar body, the device body comprising a frame that can be deformed between an open state that can be detached from the columnar body and a closed state that surrounds the outer circumference of the columnar body, a plurality of traveling bodies that have contact portions that contact the outer circumference of the columnar body and are supported by the device body, a plurality of pressing mechanisms that can press each of the plurality of traveling bodies against the outer circumference of the columnar body, and at least one drive unit that drives at least one of the plurality of traveling bodies. The frame is configured to be ring-shaped in the closed state, surrounding the entire outer circumference of the columnar body, and to be C-shaped in the open state, surrounding a part of the outer circumference of the columnar body.The plurality of traveling bodies are distributed in the circumferential direction of the columnar body, and each pressing mechanism has a biasing portion that biases the contact portion of the corresponding traveling body toward the outer circumference of the columnar body. The main body of the device is configured to be movable in at least one of the longitudinal and circumferential directions of the columnar body by the driving of at least one traveling body by the at least one drive unit while the biasing portion of each pressing mechanism presses the corresponding traveling body toward the outer circumference of the columnar body, and is configured to follow changes in the diameter or outer circumference shape of the columnar body.

[0013] In one embodiment of a climbing work device, the device body includes a plurality of drive units that independently drive each of the plurality of traveling bodies.

[0014] In one embodiment of a climbing work device, the contact portion of each traveling body is configured to roll on the outer circumference of the columnar body.

[0015] In one embodiment of a climbing work device, each pressing mechanism has a pressing drive unit configured to allow the corresponding traveling body to move in the radial direction of the columnar body, Each pressing mechanism is configured such that its biasing portion maintains a state in which the contact portion of the corresponding traveling body is pressed against the outer circumference of the columnar body, while its pressing drive portion adjusts the position of the corresponding traveling body in accordance with changes in the diameter or outer circumference shape of the columnar body.

[0016] In one embodiment of a climbing work device, a plurality of traveling body assemblies are provided, which are distributed in the circumferential direction of the columnar body, and each traveling body assembly includes two or more traveling bodies from the plurality of traveling bodies, and the two or more traveling bodies in each traveling body assembly are arranged in the direction of travel or in a direction perpendicular to the direction of travel.

[0017] In one embodiment of a climbing work device, the device body includes a plurality of direction-changing mechanisms configured to adjust the direction of travel of each of the plurality of traveling bodies.

[0018] In the climbing work device according to one aspect, the biasing portion of each pressing mechanism connects the pressing drive portion of the pressing mechanism and the direction changing mechanism of the traveling body corresponding to the pressing mechanism.

[0019] In the climbing work device according to one aspect, the device main body is configured to spirally move along the columnar body by driving each traveling body with the drive portion in a state where the corresponding traveling body is inclined with respect to the longitudinal direction of the columnar body by each direction changing mechanism.

[0020] In the climbing work device according to one aspect, the device main body is configured to be capable of gripping the columnar body at an arbitrary position in the longitudinal direction of the columnar body by stopping the plurality of traveling bodies in a state where the corresponding traveling body is inclined with respect to the longitudinal direction of the columnar body by each direction changing mechanism.

[0022] To solve the above problem, a climbing work device according to one aspect is a climbing work device movable along a columnar body, comprising: a device main body arranged along the outer periphery of the columnar body; and at least one work module configured to perform a predetermined work, wherein the device main body has a frame deformable between an open state in which the frame can be separated from the columnar body and a closed state surrounding the outer periphery of the columnar body, and a connector for exchangeably connecting the work module, and the work module is configured to be attachable to and detachable from the device main body.

[0023] In the climbing work device according to one aspect, the columnar body is a tree trunk, and the work module is a pruning module having a branch cutting mechanism capable of cutting branches of the tree.

[0024] In the climbing work device according to one aspect, the pruning module has a cutting position adjustment mechanism configured to enable the branch cutting mechanism to move in the radial direction of the tree.

[0025] In the climbing work device according to one aspect, the work module includes a diagnosis module capable of diagnosing the state of the columnar body.

[0026] In the climbing work apparatus according to one aspect, the work module includes a felling module capable of cutting the columnar body.

[0027] In the climbing work apparatus according to one aspect, the work module is configured to be capable of performing at least one of epidemic prevention treatment, chemical treatment, cableway installation, or transport work on the columnar body.

[0028] To solve the above problem, a work system according to one aspect is a work system comprising a climbing work apparatus movable along a columnar body and an aerial vehicle, wherein the climbing work apparatus has a frame configured to be deformable into a ring shape in a closed state enclosing the entire outer periphery of the columnar body and into a C-shape in an open state enclosing a part of the outer periphery of the columnar body, and the climbing work apparatus is configured to be mountable to the columnar body while being transported in the air by the aerial vehicle.

[0029] In the work system according to one aspect, a plurality of the climbing work apparatuses are provided, the columnar body is a tree trunk, at least one of the plurality of climbing work apparatuses has a felling module capable of cutting the trunk, and the felling module is configured to cut a lower portion of the trunk in the longitudinal direction while the climbing work apparatus aerially supported by the aerial vehicle grips an upper portion of the trunk in the longitudinal direction.

[0030] In the work system according to one aspect, the climbing work apparatus uses the trunk cut by the felling module as a target object, and includes an estimation unit that estimates the weight and center-of-gravity position of the target object, and a transport control unit that generates transport information having thrust distribution and suspension positions for the plurality of aerial vehicles used for transporting the target object, based on the estimation results of the weight and center-of-gravity position of the target object obtained by the estimation unit.

[0031] In the work system according to one aspect, the transport control unit is configured to determine the cutting position of the target object based on the transport information.

[0032] In one embodiment of the work system, the estimation unit is configured to estimate the weight and center of gravity of the object based on at least one of the diameter, length, tree species, moisture content, and density.

[0033] In one embodiment of the work system, each of the plurality of aerial flying bodies is configured as a thrust generating unit, and the thrust generating units of the plurality of aerial flying bodies are connected by a connecting member to operate as a single transport body.

[0034] In one embodiment of the work system, the transporter or the connecting member has a load detection unit capable of detecting load or stress, and the control unit is configured to correct the thrust distribution based on the load or stress detection result detected by the load detection unit.

[0035] In one embodiment of a climbing work device, the climbing work device has an identification information acquisition unit capable of acquiring identification information attached to the columnar body. [Effects of the Invention]

[0036] In one embodiment of the climbing work device and work system, safety can be improved and work efficiency can be enhanced. In particular, in one embodiment of the climbing work device and work system, stable climbing work is possible, modularization allows for flexible adaptation to various tasks, and collaborative work with drones, etc., is possible. [Brief explanation of the drawing]

[0037] [Figure 1] Figure 1 is a schematic plan view showing the climbing work device according to the first embodiment attached to a tree with the frame in a closed state. [Figure 2] Figure 2 is a schematic plan view showing the main body of the climbing work device according to the first embodiment, detached from the tree and with the frame in the open position. [Figure 3]Figure 3 is a schematic front view showing the climbing-type work device according to the first embodiment attached to a tree. [Figure 4] Figure 4 is a schematic view of the traveling body assembly of the device body according to the first embodiment, as seen from the direction of arrow W in Figure 2. [Figure 5] Figure 5 is a schematic rear view showing the pruning module of the climbing-type work device according to the first embodiment. [Figure 6] Figure 6 is a cross-sectional view taken along line XX in Figure 1. [Figure 7] Figure 7 is a block diagram of a climbing-type work device according to the first embodiment. [Figure 8] Figure 8 is a schematic plan view showing the climbing work device according to the second embodiment attached to a tree with the frame in the open position. [Figure 9] Figure 9 is a schematic front view showing the climbing-type work device according to the second embodiment attached to a tree. [Figure 10] Figure 10 is a plan view illustrating the operation of wrapping a wire saw around a tree trunk in a climbing-type work device according to the second embodiment. [Figure 11] Figure 11 is a block diagram of the logging module of the climbing-type work device according to the second embodiment. [Figure 12] Figure 12 is a schematic plan view showing the climbing work device according to the third embodiment attached to a tree with the frame in a closed state. [Figure 13] Figure 13 is a block diagram of the diagnostic module of the climbing-type work device according to the third embodiment. [Figure 14] Figure 14 is a schematic plan view showing the climbing work device according to the fourth embodiment attached to a tree with the frame in a closed state. [Figure 15] Figure 15 is a block diagram of the chemical treatment module of the climbing-type work device according to the fourth embodiment. [Figure 16] Figure 16 is a schematic front view showing the climbing-type work device according to the fifth embodiment attached to a tree. [Figure 17]Figure 17 is a schematic diagram showing multiple climbing work devices equipped with a cable suspension module according to the fifth embodiment, each attached to multiple trees. [Figure 18] Figure 18 is a block diagram showing the configuration of a climbing work device, a diagnostic module, a wireless tag, an aerial mobile unit, and a management device in the work system according to the sixth embodiment. [Figure 19] Figure 19 is a schematic diagram showing a climbing work device equipped with a felling module and two climbing work devices suspended by an aerial aircraft attached to a tree in a work system according to the sixth embodiment. [Figure 20] Figure 20 is a schematic plan view showing the transporter body of a work system according to a modified example of the sixth embodiment. [Figure 21] Figure 21 is a schematic front view showing a transporter body of a work system according to a modified example of the sixth embodiment. [Modes for carrying out the invention]

[0038] The climbing work devices according to the first to fifth embodiments and the work system according to the sixth embodiment will be described. The climbing work devices according to each embodiment are configured to be movable along a columnar body. In addition, in each embodiment, the climbing work device may be equipped with interchangeable work modules depending on the work content.

[0039] [First Embodiment] The climbing-type work device 10 according to the first embodiment will be described with reference to Figures 1 to 7.

[0040] "Outline of a Climbing-Type Work Device" The climbing work device 10 according to this embodiment is generally configured as follows. As shown in Figures 1 to 3, the climbing work device 10 has a device body 20 arranged along the outer circumference of a columnar body 1.

[0041] As shown in Figures 1-4, the device body 20 has a plurality of traveling bodies 31 supported by it. Each traveling body 31 has a contact portion 31a that contacts the outer circumference of the columnar body 1. The device body 20 has a plurality of pressing mechanisms 32 that enable each of the plurality of traveling bodies 31 to press against the outer circumference of the columnar body 1. The device body 20 has at least one drive unit 33 that drives at least one of the plurality of traveling bodies 31.

[0042] Multiple traveling bodies 31 are distributed around the columnar body 1. Each pressing mechanism 32 has a biasing portion 32a that biases the contact portion 31a of the corresponding traveling body 31 toward the outer circumference of the columnar body 1.

[0043] In the climbing work device 10, the device body 20 is configured to move in at least one direction in the longitudinal and circumferential directions of the columnar body 1 by driving at least one traveling body 31 with at least one drive unit 33 while the biasing portion 32a of each pressing mechanism 32 presses the corresponding traveling body 31 against the outer circumference of the columnar body 1, and is configured to follow changes in the diameter or outer circumference shape of the columnar body 1.

[0044] Furthermore, the climbing work device 10 according to this embodiment can be configured as follows. As shown in Figures 1 to 4, the device body 20 has a plurality of drive units 33 that independently drive a plurality of traveling bodies 31. The contact portion 31a of each traveling body 31 is configured to roll on the outer circumference of the columnar body 1.

[0045] Each pressing mechanism 32 has a pressing drive unit 32b configured to allow the corresponding traveling body 31 to move in the radial direction of the columnar body 1. Each pressing mechanism 32 is configured such that its biasing portion 32a presses the contact portion 31a of the corresponding traveling body 31 against the outer circumference of the columnar body 1, while its pressing drive unit 32b adjusts the position of the corresponding traveling body 31 in accordance with changes in the diameter or outer circumference shape of the columnar body 1.

[0046] The main body of the device 20 has a plurality of direction-changing mechanisms 34 (see Figure 4) configured to adjust the direction of travel of each of the plurality of traveling bodies 31. The biasing portion 32a of each pressing mechanism 32 connects the pressing drive portion 32b of the pressing mechanism 32 to the direction-changing mechanism 34 of the traveling body 31 corresponding to the pressing mechanism 32.

[0047] The device body 20 is configured to move spirally along the columnar body 1 by driving each traveling body 31 with a drive unit 33 while each traveling body 31 is tilted with respect to the longitudinal direction of the columnar body 1 by each direction changing mechanism 34. The device body 20 is configured to grip the columnar body 1 at any position along the longitudinal direction of the columnar body 1 by stopping a plurality of traveling bodies 31 while each traveling body 31 is tilted with respect to the longitudinal direction of the columnar body 1 by each direction changing mechanism 34.

[0048] As shown in Figures 1-3, the main body of the device 20 has a frame 21 that is deformable between a closed state that prevents detachment from the columnar body 1 (see Figure 1) and an open state that allows detachment from the columnar body 1 (see Figure 2). The frame 21 can be configured to be ring-shaped in the closed state so as to surround the entire outer circumference of the columnar body 1 (see Figure 1), and to be roughly C-shaped in the open state so as to surround a part of the outer circumference of the columnar body 1 (see Figure 2).

[0049] "Work Platform Function" As shown in Figures 1-5, the main body of the device 20 functions as a work platform for performing various tasks on an object such as a columnar body 1. The main body of the device 20 can be equipped with various work modules depending on the application of the climbing work device 10. The main body of the device 20 has a connector 26 for detachably connecting adapters for such work modules.

[0050] The adapter of the work module functions as an interface that enables mechanical coupling and electrical connection to the main body 20, and optionally enables fluid connection to the main body 20. In this embodiment, the connection between the adapter 14 of the pruning module 11 and the connector 26 of the main body 20 will be described (details will be given later).

[0051] "Work Module (Pruning Module)" As shown in Figures 1-3, 5, 6, and 7, the climbing work device 10 has a work module 11 configured to perform a predetermined task. The device body 20 has a power supply 25 configured to supply power to the drive unit 33. The work module 11 is configured to be replaceable (detachable) from the device body 20 and to receive power from the power supply 25 of the device body 20.

[0052] In this embodiment, the work module 11 is configured as a pruning module 11 having a branch cutting mechanism 12 capable of cutting tree branches 2. The pruning module 11 has a cutting position adjustment mechanism 13 configured to allow the branch cutting mechanism 12 to move in the radial direction of the trunk 1.

[0053] As described above, in this embodiment, the work performed on the target object is pruning. In the embodiments described later, cases where the work involves felling the tree trunk 1, diagnosing the tree, disease prevention treatment, chemical treatment, rope suspension, etc., will be described in detail. However, the work is not limited to these.

[0054] "Shape and characteristics of columnar bodies" In the climbing work device 10 according to this embodiment, the target columnar body 1 may have the following characteristics. For example, as shown in Figures 1 and 3, if the columnar body 1 is the trunk 1 of a tree, the columnar body 1 extends in a substantially straight line in its height direction, i.e., vertical direction. However, the columnar body 1 is not limited to this. For example, a part of the columnar body 1 may extend in a substantially straight line along the vertical direction or a direction inclined with respect to the vertical direction.

[0055] The trees are preferably conifers with straight trunks, either partially or entirely, but are not limited to this. For example, the trees can be broad-leaved trees with straight trunks, either partially or entirely. Furthermore, the trees can also be plants that closely resemble trees, such as bamboo, dwarf bamboo, tree ferns, palms, fan palms, and cycads, which have straight trunks, either partially or entirely.

[0056] The diameter of the columnar body 1 may vary along its longitudinal direction. For example, if the columnar body 1 is the trunk 1 of a tree, the diameter of the trunk 1 tends to decrease monotonically overall from the bottom to the top, but it may increase or decrease locally due to nodes, constrictions, or bulges.

[0057] The outer surface of the columnar body 1 may have protrusions, depressions, etc., and its outer shape may be irregular or non-circular, and may have large localized irregularities. For example, if the columnar body 1 is the trunk of a tree 1, the outer surface of the trunk 1 may have protrusions such as twigs, remaining branches, and knots, as well as depressions. In addition, the contact portion 31a of the traveling body 31 may slip depending on the surface condition of the outer surface of the columnar body 1 and the exposure of sap.

[0058] Even under various conditions resulting from the shape and characteristics of the columnar body 1 as described above, the climbing work device 10 is required to be able to maintain stable climbing. The columnar body can be anything other than a tree trunk. For example, the columnar body can be a utility pole, lighting pole, signal pole, signpost, camera pole, antenna pole, multi-purpose pole, or other columnar structure. In this case, the work module will be configured to suit the purpose of the work on the columnar structure.

[0059] "Details of the device itself" Referring to Figures 1-7, the main body 20 of the apparatus according to this embodiment can be configured in detail as follows. As an example, the weight of the main body 20 can be in the range of approximately 15 kg to approximately 30 kg.

[0060] In this case, the main body of the device 20 is configured to exert a gripping force to stably grip the columnar body 1. A climbing work device 10 having such a heavy main body 20 can be easily transported by an aerial vehicle 300 (drone, etc.) as described later, and can be easily attached to the columnar body 1.

[0061] As an example, the inner diameter (diameter) of the frame 21 in the main body 20 of the device can be in the range of approximately 500 mm to approximately 700 mm. In this case, the climbing work device 10 can target a columnar body 1, particularly a tree trunk 1, with an outer diameter (diameter) in the range of approximately 200 mm to approximately 500 mm. However, the inner diameter of the frame is not limited to this.

[0062] For example, the height of the frame 21 can be within the range of approximately 150 mm to approximately 250 mm. In this case, the climbing work device 10 can easily climb up and down along the columnar body 1 while avoiding protrusions on the outer surface of the columnar body 1, especially twigs, remaining branches, etc. However, the height of the frame is not limited to this.

[0063] As shown in Figure 1, the frame 21, in the closed state, is approximately O-shaped (or approximately ring-shaped) so as to surround the entire outer circumference of the columnar body 1. However, the closed state of the frame is not limited to this. In the closed state, the frame can also be approximately C-shaped, facing a range of approximately 3 / 4 or more of the outer circumference of the columnar body but less than the entire circumference, in order to prevent it from detaching from the columnar body.

[0064] As shown in Figures 1-3, the frame 21 has a main frame 22 and a subframe 23 formed in a substantially arc shape. The main frame 22 and the subframe 23 are slidable relative to each other along the circumferential direction of the columnar body 1. In particular, it is preferable that the subframe 23 be slidable in an arc shape relative to the main frame 22 along the circumferential direction of the columnar body 1. The main frame 22 is configured to accommodate at least a portion of the subframe 23.

[0065] Furthermore, the frame 21 can be configured to include a main frame 22 formed in a substantially arc shape and a plurality of subframes 23 formed in a substantially arc shape. In this case, the main frame 22 is configured to accommodate at least a portion of these subframes 23.

[0066] The main frame 22 is positioned on the outer circumference side in the radial direction of the columnar body 1 relative to the subframe 23. However, the main frame 22 can also be positioned on the inner circumference side in the radial direction of the columnar body relative to the subframe 23.

[0067] Although not explicitly shown in the illustrations, the frame 21 can be formed so that a roughly U-shaped cross-section encircles the columnar body 1, opening from the outer circumference to the inner circumference in the radial direction. In this case, the main frame 22 and subframe 23 can also be formed to have the same cross-sectional shape as the frame 21. However, the shape of the frame's cross-section is not limited to a roughly U-shape.

[0068] As shown in Figures 1-3 and 7, the main body of the device 20 has a frame movement mechanism 24 configured to slide the subframe 23 relative to the main frame 22. The frame movement mechanism 24 has a frame drive unit 24a that generates driving force. For example, the frame drive unit 24a can be a motor.

[0069] Such a frame movement mechanism 24 includes a frame power transmission mechanism 24b having gears, racks, pinions, etc., to transmit the driving force of the frame drive unit 24a to the subframe 23. The frame movement mechanism 24 has a frame position detection unit 24c configured to detect the position of the subframe 23 relative to the main frame 22.

[0070] For example, the frame position detection unit 24c can be a mechanical / optical encoder, an optical sensor, a magnetic proximity sensor, etc. However, the frame position detection unit is not limited to these.

[0071] The frame movement mechanism 24 includes a frame open detection unit 24d configured to detect when the subframe 23 has moved to an open position that opens the frame 21. The frame movement mechanism 24 also includes a frame closed detection unit 24e configured to detect when the subframe 23 has moved to a closed position that closes the frame 21.

[0072] As an example, the frame open detection unit 24d and the frame closed detection unit 24e can be limit switches. The frame open detection unit 24d is located on the main frame 22, and the frame closed detection unit 24e is located on the subframe 23. However, the arrangement and configuration of the frame open detection unit 24d and the frame closed detection unit 24e are not limited to this.

[0073] The device body 20 has a group of sensors 27 used for its control. The sensor group 27 has an imaging unit 27a configured to capture images of the area around the device body 20. The sensor group 27 has an acceleration sensor 27b configured to detect acceleration occurring in the device body 20. The sensor group 27 has a gyro sensor 27c configured to detect the rotation angle of the device body 20.

[0074] The sensor group 27 includes a positioning sensor 27d configured to detect position. The positioning sensor 27d can be, for example, a GPS (Global Positioning System) receiver. However, the positioning sensor is not limited to this. The position information obtained by the positioning sensor may be used in combination with information obtained by other sensors.

[0075] The acceleration sensor 27b and the gyro sensor 27c can also be configured as a cooperative inertial measurement unit (IMU). The main body of the device 20 has a communication unit 28 configured to communicate with the outside. The sensor group information described above may be used by an external forest management system, anomaly monitoring system, or work plan generation system, etc.

[0076] The main body of the device 20 has a control unit 29 configured to control the climbing work device 10. The control unit 29 may estimate the posture and position of the climbing work device 10 based on information obtained from the sensor group 27 and control the climbing work device 10 based on the estimation result. Furthermore, the control unit 29 may perform control using AI (Artificial Intelligence).

[0077] The main body of the device 20 has a plurality of traveling body assemblies 30 that are distributed in the circumferential direction of the columnar body 1. Each traveling body assembly 30 has a traveling body 31, a pressing mechanism 32 that presses the traveling body 31, a drive unit 33, and a direction changing mechanism 34 that changes the direction of travel of the traveling body 31 (see Figure 4).

[0078] Figure 1 shows, as an example, a device body 20 having four running body assemblies 30. However, the number of running body assemblies is not limited to this. The device body 20 may also have two, three, or five or more running body assemblies. As the number of running body assemblies 30 increases, the influence of the shape or state of the columnar body 1 is reduced, and running stability, load-bearing capacity, and contact-following ability are improved.

[0079] As shown in Figures 1-4, the running body 31 is configured as a wheel 31. The running body 31 has a wheel portion 31b located approximately in the center of its radial direction. The contact portion 31a is arranged around the wheel portion 31b. The contact portion 31a is made of an elastic material such as rubber.

[0080] The contact portion 31a can be a tire. However, the running body is not limited to this. For example, the running body can be a crawler. The running body has a continuous track belt made of an elastic material such as rubber as its contact portion, and a plurality of pulleys that support this belt, and at least one of the plurality of pulleys is configured to be drivable by a drive unit.

[0081] Each running assembly 30 has one running body 31. However, the number of running bodies provided in each running body assembly is not limited to one. For example, each running assembly may have two or more running bodies from a plurality of running bodies. In this case, the plurality of running bodies in each running assembly may be arranged in a line in the direction of travel or in a direction perpendicular to the direction of travel. Such running body assemblies can also have configurations such as a coaxial two-wheel structure, a widthwise double-wheel structure, a front-to-rear tandem structure, or an independent suspension double-wheel structure.

[0082] Each traveling body 31 is positioned above the frame 21 in the height direction of the columnar body 1, especially when it is drivable. However, the arrangement of each traveling body 31 is not limited to this. Each traveling body 31 can be positioned relative to the frame 21 in the height direction of the columnar body 1, taking into consideration its center of gravity.

[0083] Although not explicitly shown in the illustrations, in each pressing mechanism 32, the biasing section 32a can be configured to include an arm connecting the pressing drive section 32b and the corresponding direction-changing mechanism 34 of the traveling body 31, and a torsion spring that biases the arm. Alternatively, the arm itself can function as an elastic member. However, the biasing section is not limited to these configurations. For example, the biasing section can be configured to include a tension coil spring, a compression coil spring, or the like instead of a torsion spring.

[0084] Although not explicitly shown in the diagrams, in each pressing mechanism 32, the pressing drive unit 32b is configured to pivotally move the biasing unit 32a by the driving force of a motor. However, the pressing drive unit 32b is not limited to this. For example, the pressing drive unit 32b can also be configured to linearly reciprocate the biasing unit 32a using a pneumatic or hydraulic plunger.

[0085] As shown in Figures 1-4 and 7, each pressing mechanism 32 has a pressing position detection unit 32c configured to detect the position of the direction changing mechanism 34 of the traveling body 31 relative to the pressing drive unit 32b (see Figure 3). For example, the pressing position detection unit 32c can be an angle sensor, an optical sensor, a magnetic proximity sensor, a pressure sensor, etc. However, the pressing position detection unit is not limited to these.

[0086] The drive unit 33 is configured as a motor. In each vehicle assembly 30, the drive unit 33 can be positioned adjacent to the corresponding vehicle 31. For example, the drive unit 33 can be a wheel motor. However, the drive unit is not limited to this. For example, by using an independent torque control method for the drive unit, the load on the corresponding vehicle can be averaged, improving slip resistance.

[0087] Although not explicitly shown in the diagrams, in each traveling body assembly 30, the direction-changing mechanism 34 is configured to rotate the traveling body 31 by motor drive. However, the direction-changing mechanism is not limited to this. By coordinating the traveling direction of each traveling body 31, the main body of the device 20 is configured to be able to travel in any direction from the circumferential direction to the longitudinal direction of the columnar body 1.

[0088] "Power supply configuration" As shown in Figures 1-3 and 7, the power supply 25 is configured to supply power to the frame moving mechanism 24 and the multiple traveling body assemblies 30. The power supply 25 is also configured to supply power to the work module 11 connected to the connector 26. For example, the power supply 25 can be configured to supply the amount of power required for pruning work by the pruning module 11 (e.g., about 100 Wh).

[0089] The power supply 25 can be configured using a rechargeable secondary battery, and the device body 20 can be configured to be rechargeable by docking it with a power supply system (not shown). Such a power supply system can be configured as an external system equipped with a generator, a large-capacity battery, etc. However, the power supply is not limited to this. For example, the power supply can be a mechanically replaceable primary battery, etc. Primary batteries are suitable when charging equipment is not available, or when weight reduction, energy efficiency, and work efficiency are to be improved.

[0090] "Connection Configuration" As shown in Figures 1-3, 5, 6, and 7, the connector 26 has an adapter base 26a used for connecting to the pruning module 11. As shown in Figure 6, the adapter base 26a has an adapter fitting hole 26b that can be fitted into the adapter 14 of the work module 11 (including the adapter rod 14a as part of it). The adapter rod 14a and the adapter base 26a are connected by a mechanical coupling, and the pruning module 11 is fixed to the device body 20 in a predetermined position and orientation.

[0091] Specifically, the connector 26 has a locking mechanism 26c that can be switched between a locked state in which the adapter rod 14a is engaged and a released state in which the engagement is released. The locking mechanism 26c has a locking pin 26d that protrudes so as to be able to move back and forth within the adapter fitting hole 26b.

[0092] The locking mechanism 26c has a locking spring 26e that biases the locking pin 26d in the direction of its protrusion. The locking spring 26e can be a compression coil spring. However, the locking spring is not limited to this.

[0093] The locking mechanism 26c is configured to be switchable between a protruding state in which the locking pin 26d is pushed out within the adapter fitting hole 26b by the biasing force of the locking spring 26e, and a retracted state in which the locking pin 26d is retracted from the adapter fitting hole 26b. Furthermore, the locking mechanism 26c has a locking switching unit 26f that performs this switching. Such a locking switching unit 26f can be a release solenoid. However, the locking switching unit is not limited to this.

[0094] When the lock pin 26d is in the protruding position, it engages with the pin hole 14b of the adapter rod 14a (details will be described later). Therefore, when the lock pin 26d is in the protruding position, the locking mechanism 26c is locked, preventing the adapter rod 14a from falling off the connector 26.

[0095] When the lock pin 26d is in its retracted state, it is pulled out of the pin hole 14b of the adapter rod 14a and detached. Therefore, when the lock pin 26d is in its retracted state, the adapter rod 14a can be removed from the connector 26, and the lock mechanism 26c is in an unlocked state.

[0096] The locking mechanism for the adapter rod 14a in the connector 26 is not limited to the above, and a magnetic chuck, air chuck, hydraulic chuck, etc., can be used. The adapter fitting hole 26b penetrates the columnar body 1 in the longitudinal direction. With this configuration, the adapter 14 of the work module 11 can be inserted from either side of the columnar body 1 in the longitudinal direction.

[0097] "Other components of the main device" As shown in Figures 1-3 and 7, the imaging unit 27a is configured to capture and detect information about the convex and concave portions located on the outer circumference of the columnar body 1, as well as the surrounding area of ​​the device body 20. The captured information includes information about the convex and concave portions of the columnar body 1, the surface condition of the outer circumference of the columnar body 1, the working status by the work module 11, and external objects other than the columnar body 1 and the climbing-type work device 10. Such an imaging unit 27a can be a camera, particularly a CCD (Charge Coupled Device) camera or an IR (Infrared) camera. However, the imaging unit is not limited to these.

[0098] The acceleration sensor 27b and the gyro sensor 27c can detect the acceleration, angular velocity, and tilt state of the device body 20. Based on this information, calculations can be performed to estimate the longitudinal movement speed of the device body 20, the circumferential motion state of the device body 20, and the tilt of the device body 20, such as abnormal tilt. Based on the tilt state of the device body 20 thus estimated, the orientation of the device body 20, and furthermore, the tilt of the columnar body 1, in particular, abnormal tilt, can be determined.

[0099] The communication unit 28 is configured to communicate with the climbing work device 10 and the communication unit 101 (described later) of the management device 100. As a result, the climbing work device 10 can be monitored and remotely controlled by the management device 100 via the communication unit 28.

[0100] "Control of climbing-type work equipment" The control unit 29 is configured to control the frame drive unit 24a. The control unit 29 is configured to enable short-circuit control to stop the frame drive unit 24a. However, the configuration for stopping or holding the movement of the subframe is not limited to short-circuit control of the frame drive unit. For example, a frame movement braking mechanism, a mechanical latch mechanism, etc., can be used.

[0101] The control unit 29 can perform braking control (for example, short-circuit control) to stop the frame drive unit 24a according to the position of the subframe 23 detected by the frame position detection unit 24c, the frame open switch 24d, or the frame closed switch 24e.

[0102] For example, when the control unit 29 receives an installation instruction from the management device 100 or the like to attach the main body of the device 20 to the columnar body 1 with the frame 21 in the open position, it can control the frame drive unit 24a to move the subframe 23 from the open position to the closed position.

[0103] For example, the control unit 29 can drive the frame drive unit 24a to start moving the subframe 23 from the open position to the closed position when, with the frame 21 in the open state, at least one of the pressing position detection units 32c among the plurality of pressing mechanisms 32 detects the approach of the corresponding traveling body 31 to the columnar body 1.

[0104] For example, when the control unit 29 receives a removal instruction from the management device 100 or the like to remove the main body 20 of the device from the columnar body 1 while the frame 21 is in the closed position, it can control the frame drive unit 24a to move the subframe 23 from the closed position to the open position.

[0105] For example, when the frame position detection unit 24c detects that the subframe 23 has reached an intermediate position to avoid the protrusions located on the outer surface of the columnar body 1, the control unit 29 can short-circuit the frame drive unit 24a to stop the subframe 23.

[0106] The intermediate position of the subframe 23 is located between the closed and open positions of the subframe 23. The intermediate position of the subframe 23 is set such that the frame 21 encloses an area of ​​the outer circumference of the columnar body 1 that is more than approximately 2 / 3 of the circumference but less than the entire circumference.

[0107] The control unit 29 can short-circuit the frame drive unit 24a to stop the movement of the subframe 23 when the frame closing detection unit 24e detects that the subframe 23 has reached the closed position. The control unit 29 can short-circuit the frame drive unit 24a to stop the movement of the subframe 23 when the frame opening detection unit 24d detects that the subframe 23 has reached the open position.

[0108] As shown in Figures 1-4 and 7, the control unit 29 is configured to control multiple mobile body assemblies 30 so that the main body of the device 20 can move autonomously. The control unit 29 can also be configured to control multiple mobile body assemblies 30 so that the main body of the device 20 can move according to remote control by an external management device 100.

[0109] The control unit 29 is configured to control the pressing mechanism 32, particularly the pressing drive unit 32b, so as to adjust the pressing force that presses the contact portion 31a of the corresponding traveling body 31 against the outer circumference of the columnar body 1, according to the pressing position detected by the pressing position detection unit 32c of each pressing mechanism 32.

[0110] The control unit 29 is configured to control the corresponding drive unit 33 so as to enable the start, stop, and speed change of rotation of each traveling body 31. The control unit 29 is configured to control the corresponding direction changing mechanism 34 so as to enable the change of the direction of travel of each traveling body 31.

[0111] The control unit 29 is configured to short-circuit the corresponding drive unit 33 in order to stop the rotation of each traveling body 31. However, the control to stop the rotation of the traveling bodies is not limited to short-circuiting the drive unit. For example, each traveling body assembly may have a braking unit configured to stop the rotation of the traveling body, and the control unit may be configured to control the braking unit to stop the rotation of the traveling body.

[0112] As shown in Figures 1-3 and 7, the control unit 29 can control the climbing work device 10 based on surrounding information acquired by the imaging unit 27a. The control unit 29 can control the drive unit 33 and direction changing mechanism 34 of each traveling assembly 30 based on surrounding information including protrusions and recesses of the columnar body 1 acquired by the imaging unit 27a. The control unit 29 can also control the drive unit 33 and direction changing mechanism 34 of each traveling assembly 30 based on remote operation by an external management device 100.

[0113] As shown in Figures 1, 3, 5, and 7, when the columnar body 1 is the trunk 1 of a tree, the control unit 29 is configured to determine whether or not to cut the branch 2 based on surrounding information, including the state of the branch 2, acquired by the imaging unit 27a. If the control unit 29 determines that the branch 2 should be cut, it is configured to instruct the pruning module 11 to cut the branch 2.

[0114] As shown in Figures 1-3, the control unit 29 is configured to calculate information on the amount of movement of the device body 20 around the outer circumference of the columnar body 1. Based on this amount of movement, the control unit 29 is configured to calculate the diameter or shape of the columnar body 1.

[0115] "Details of the pruning module" As shown in Figures 1, 3, and 5, the pruning module 11 includes a branch cutting mechanism 12 having a rotating blade 12a capable of cutting branches 2.

[0116] The rotating blade 12a has a blade portion formed in a substantially disc shape and a shaft portion arranged along the central axis of the blade portion. The outer circumference of the blade portion is formed in a sawtooth shape. In the rotating blade 12a, the blade portion and the shaft portion are formed integrally.

[0117] The branch cutting mechanism 12 has a cutting drive unit 12b configured to rotate the rotating blade 12a. The cutting drive unit 12b may be configured to have a motor. The cutting drive unit 12b is configured to detachably hold the shaft portion of the rotating blade 12a and to rotate the rotating blade 12a.

[0118] In the branch cutting mechanism 12, multiple types of rotating blades 12a with different diameters, shapes, etc., can be replaced and used. However, the branch cutting mechanism is not limited to this. For example, the branch cutting mechanism can also be configured as a chainsaw.

[0119] The cutting position adjustment mechanism 13 can be configured as a linear actuator that allows the branch cutting mechanism 12 to move in the radial direction of the trunk 1. However, the cutting position adjustment mechanism 13 is not limited to this.

[0120] As shown in Figure 5, the pruning module 11 has a cover 15 that is configured to be deformable between an open state (shown by a dashed line) in which the rotating blade 12a is exposed and usable, and a covered state (shown by a solid line) that covers the rotating blade 12a. For example, the cover 15 can also be configured to automatically transition from the open state to the covered state when an abnormality is detected.

[0121] The pruning module 11 can be configured to include a group of sensors 16 used for its control (see Figure 5). The group of sensors 16 has an imaging unit 16a configured to capture images of the area around the pruning module 11. The group of sensors 16 may also further include an IR camera, a distance sensor, etc. Furthermore, the pruning module 11 has a communication unit 17 configured to communicate with an external device.

[0122] The pruning module 11 has a pruning control unit 18 configured to control the branch cutting mechanism 12 and the cutting position adjustment mechanism 13. Specifically, the pruning control unit 18 can control the cutting drive unit 12b to enable the start, stop, and speed change of the rotation of the rotating blade 12a, and can also control the cutting position adjustment mechanism 13 to adjust the position of the rotating blade 12a in the radial direction of the trunk 1. However, the control of the branch cutting mechanism and the cutting position adjustment mechanism can also be performed by the control unit of the main body of the device.

[0123] "Adapter rod connection mechanism" As shown in Figures 5 and 6, the pruning module 11 has an adapter 14 that can be attached to and detached from the connector 26 of the device body 20. The adapter 14 has an adapter rod 14a that is formed to be insertable into the adapter fitting hole 26b of the adapter base 26a.

[0124] The adapter rod 14a is formed in a substantially rectangular prism shape. However, its shape is not limited to this. For example, the adapter rod 14a can also be formed in a substantially cylindrical shape, a tapered prism shape, a prism shape with a keyway, and so on.

[0125] As shown in Figure 6, the adapter rod 14a has a pin hole 14b that extends in a direction substantially perpendicular to its longitudinal direction. The pin hole 14b is formed to allow the lock pin 26d of the connector 26 to move forward and backward. When the adapter 14 of the pruning module 11 is attached to the connector 26 of the device body 20, the pruning module 11 can receive power from the power supply 25 of the device body 20.

[0126] In Figure 6, the adapter rod 14a is inserted into the adapter fitting hole 26b from above to below in the height direction of the connector 26. However, the adapter rod 14a can also be inserted from below to above.

[0127] Although not explicitly shown in the diagrams, the adapter 14 and connector 26 may have connection terminals for power and signal connections. These terminals allow the adapter 14 and connector 26 to receive power separately from an external power source, etc. These connection terminals are also used for signal connections for control, etc. For example, signal connections can use wired communication such as RS232C, CAN (Controller Area Network), Ethernet, or signal lines for internal circuits, and can also be used in conjunction with BLE (Bluetooth® Low Energy) communication, etc.

[0128] Furthermore, the adapter 14 may be detachably connected to an external device other than the main unit 20. In this case, the external device may be equipped with a connector having a configuration similar to the connector 26 of the main unit 20. For example, an external device could be a transport robot that transports work modules such as the pruning module 11.

[0129] "Instructions for using climbing-type work equipment" The method of using the climbing-type work device 10 according to this embodiment will be described below.

[0130] "Attaching and detaching the device itself" Referring to Figures 1 and 2, when attaching the device body 20 to the columnar body 1, the subframe 23 is moved to the open position to open the frame 21, and the device body 20 is brought into contact with the outer circumference of the columnar body 1. Then, based on detection by the pressing position detection unit 32c or an attachment instruction, the subframe 23 is moved toward the closed position, and the frame 21 is closed to complete the attachment.

[0131] To remove the main body 20 of the device from the columnar body 1, the subframe 23 is moved from the closed position to the open position based on the removal instruction, and the frame 21 is opened, thereby allowing removal.

[0132] "Method for moving the main unit of the device" Referring to Figures 1-4, the main body of the device 20 can move along the columnar body 1 by controlling the direction of travel of the traveling bodies 31 with a direction-changing mechanism 34 of a plurality of traveling body assemblies 30, and by rotationally driving each traveling body 31 with a drive unit 33. When the direction of travel of the traveling bodies 31 is inclined with respect to the longitudinal direction of the columnar body 1, the main body of the device 20 can move spirally along the columnar body 1.

[0133] Furthermore, when the direction of travel of the traveling body 31 is approximately aligned with the longitudinal direction of the columnar body 1, the device body 20 can move in a substantially linear fashion along the columnar body 1. Moreover, when the direction of travel of the traveling body 31 is approximately aligned with the circumferential direction of the columnar body 1, the device body 20 can move circumferentially around the columnar body 1. During these movements, the pressing mechanism 32 can maintain a stable grip of the columnar body 1 by adjusting the pressing force applied to the contact portion 31a of the traveling body 31 against the outer circumference of the columnar body 1.

[0134] According to the climbing work device 10 of this embodiment, since the multiple traveling bodies 31 are driven while being stably pressed against the outer circumference of the columnar body 1, stable climbing and descending can be performed while following changes in the diameter of the columnar body 1 and irregularities in the outer circumference shape. Furthermore, since each traveling body 31 can be driven independently and the direction of travel can be controlled by the direction changing mechanism 34, the direction of movement can be flexibly switched according to the state of the columnar body 1 and the work situation.

[0135] Furthermore, since the frame 21 is made openable and closable, it is easy to attach and detach it from the columnar body 1, and it can move while avoiding obstacles such as branches 2. In addition, since the work module 11 is made detachable from the main body 20 of the device, and power is supplied from the main body 20, it is possible to reduce the weight and increase the functionality of the entire device group while avoiding the need for individual devices.

[0136] [Second Embodiment] Referring to Figures 8 to 11, the climbing work device 40 according to the second embodiment will be described. The climbing work device 40 according to this embodiment is configured as follows. The climbing work device 40 has a device body 20 similar to that of the first embodiment.

[0137] When the columnar body 1 is a tree trunk 1, the climbing work device 40 has a felling module 41 used for felling the trunk 1. The felling module 41 has a felling mechanism 42, which has a wire saw 43 capable of cutting the trunk 1. Furthermore, the felling mechanism 42 has a first bobbin 42e for winding one end of the wire saw, a second bobbin 42f for winding the other end of the wire saw, two driven pulleys 42a, 42b for guiding the wire saw 43 along the circumference of the trunk 1, a drive pulley 42c for driving the wire saw 43, and a felling drive unit 42d for driving the drive pulley 42c.

[0138] In the felling mechanism 42, the wire saw 43, guided by driven pulleys 42a and 42b and wound around the trunk 1, is moved back and forth around the trunk 1 by the felling drive unit 42d, which causes the drive pulley 42c to reciprocate, thereby cutting the trunk 1. Both ends of the wire saw 43 are wound by the first and second bobbins 42e and 42f, respectively, and act to apply appropriate tension to the wire saw.

[0139] The wire saw 43 includes a first wire saw 43a having a leader section, a connecting plug 43c attached to the tip of the leader section, a second wire saw 43b, and a connecting socket 43d attached to the tip of the second wire saw 43b.

[0140] The connecting plug 43c is configured to be inserted into the connecting socket 43d and coupled by a latch mechanism inside the connecting socket 43d. This latch mechanism is configured to be releaseable by an electromagnetic coil. The connecting plug 43c and the connecting socket 43d may also be detachably connected by other means such as magnetic coupling or a mechanical locking mechanism.

[0141] The winding mechanism 44 includes a winding arm 44b configured to extend and retract in the circumferential direction of the trunk 1, and a connecting plug holding portion 44a located at the tip of the winding arm 44b and holding the connecting plug 43c. The winding mechanism 44 is configured to guide the connecting plug holding portion 44a and the connecting plug 43c to the connecting socket 43d and connect them. The winding arm 44b can be realized, for example, by a structure that extends and retracts a multi-stage arc-shaped slide rail (not shown) using a drive mechanism such as an ultrasonic motor.

[0142] The process of wrapping the wire saw 43 around the trunk 1 can be carried out specifically as follows. (1) Starting state of wrapping As shown by the dashed line in Figure 10, initially, the wire saw's connecting plug 43c and connecting plug holder 44a are in their initial home position. (2) In the process of being wrapped As shown by the dashed line in the figure, as the winding arm 44b extends, the connecting plug 43c and the connecting plug holder 44a move in the circumferential direction of the trunk 1 to the midpoint between the first and second driven pulleys 42a and 42b while winding the wire saw 43 around the trunk 1. (3) Wrapping complete state As shown by the solid line in the figure, further extension of the winding arm 44b causes the connecting plug 43c and the connecting plug holder 44a to move to the vicinity of the second driven pulley 42b, connecting the connecting plug 43c with the connecting socket 43d, and completing the winding of the wire saw 43 onto the trunk 1. After this, the winding arm 44b retracts, and the connecting plug holder 44a returns to its initial position. The connecting plug 43c and the connecting socket 43d are slowly wound up by the second bobbin 42f, and the wire saw 43 is stretched around the trunk 1, ready for felling. Subsequently, the felling process using the wire saw 43 is carried out. (4) Post-logging treatment After the felling process, the latch mechanism of the connecting socket 43d is released to disconnect it from the connecting plug 43c, and the wire saw 43 can be wound up using the first and second bobbins 42e and 42f.

[0143] The logging module 41 has an adapter 45 similar to the adapter 14 of the first embodiment. The logging module 41 also has a group of sensors 46 used for its control, and the group of sensors 46 includes an imaging unit 46a capable of imaging the surrounding area. Furthermore, it may also be equipped with an infrared camera, a distance sensor, etc. The logging module 41 has a communication unit 47 capable of communicating with an external device and a logging control unit 48 capable of controlling the logging mechanism 42 and the winding mechanism 44.

[0144] In the climbing-type work device 40 according to this embodiment, by using a flexible wire saw 43, it is possible to efficiently cut the trunk 1 by following its shape and slope, and to absorb the reaction force generated during cutting. Therefore, the felling module 41 can be made smaller and lighter.

[0145] Furthermore, since the device body 20 can be moved to any position on the trunk 1, the cutting position and length of the wood can be adjusted, and the direction of lodging can also be controlled by wedge-shaped cutting (undercutting), etc. In addition, since the device body 20 performs felling while gripping the tree trunk 1, it is less affected by vibration and changes in posture, enabling stable cutting work.

[0146] [Third Embodiment] Referring to Figures 12 and 13, the climbing work device 50 according to the third embodiment will be described. The climbing work device 50 according to this embodiment is configured as follows. The climbing work device 50 has a device body 20 similar to that of the first embodiment.

[0147] When the columnar body 1 is a tree trunk 1, the climbing work device 50 has a diagnostic module 51 used for diagnosing the health of the tree trunk 1, branches 2, and leaves 3. The diagnostic module 51 has a diagnostic mechanism 52 that enables the diagnosis of the health of the tree trunk 1, branches 2, and leaves 3.

[0148] The diagnostic mechanism 52 includes a visible light camera 52a, an infrared camera 52b, and a distance sensor 52c that can non-contact acquire information such as the shape, color, and temperature of the tree trunk 1, branches 2, and leaves 3. The diagnostic mechanism 52 also includes a sampling needle 52d configured to acquire samples such as sap, and can be equipped with a vacuum pump 52e as needed. Furthermore, it can be equipped with a chemical property measurement sensor 52f for measuring chemical properties such as the pH value of the acquired sample, and an electrical property measurement sensor 52g for measuring electrical properties such as electrical conductivity.

[0149] The diagnostic module 51 has a multi-joint robot arm 53, and the diagnostic mechanism 52 is attached to the tip of the robot arm 53. The diagnostic module 51 has an adapter 54 similar to the adapter 14 of the first embodiment, and is positioned at the base end of the robot arm 53. The diagnostic module 51 has a communication unit 55 configured to communicate with the outside. The diagnostic module 51 also has a diagnostic control unit 56 that controls the diagnostic mechanism 52, the robot arm 53, and the communication unit 55.

[0150] In the climbing work device 50 according to this embodiment, various information acquired by the diagnostic module 51 is transmitted to the management device 100 via the communication unit 55, where it is stored and analyzed. By comparing this information in chronological order, the growth status and changes in the condition of the trees can be evaluated. Furthermore, by integrating the obtained information and using AI or image processing, the diagnostic accuracy can be improved.

[0151] [Fourth Embodiment] Referring to Figures 14 and 15, the climbing work device 60 according to the fourth embodiment will be described. The climbing work device 60 according to this embodiment is configured as follows. The climbing work device 60 has a device body 20 similar to that of the first embodiment.

[0152] When the columnar body 1 is the trunk 1 of a tree, the climbing work device 60 has a chemical treatment module 61 used for chemical treatment work, including disease prevention treatment, chemical treatment, and nutrient supply, on the trunk 1, branches 2, etc.

[0153] The chemical treatment module 61 has a chemical application mechanism 62 for spraying or injecting chemicals into trees. The chemical application mechanism 62 has a chemical spraying nozzle 62a for spraying chemicals and a chemical injection needle 62b for injecting chemicals. The chemical application mechanism 62 has a solenoid valve 62c for switching the supply of chemicals to the chemical spraying nozzle 62a and a solenoid valve 62d for switching the supply of chemicals to the chemical injection needle 62b and stopping the supply.

[0154] Furthermore, the drug processing module 61 includes a support member 65 and a drug supply mechanism 63 for supplying drugs. The drug supply mechanism 63 includes one or more drug tanks 63a and a drug pump 63b for supplying drugs from the drug tanks 63a. The drug pump 63b is configured to select one of the drug tanks 63a and supply it to the drug input mechanism 62.

[0155] The drug delivery mechanism 62 is attached to the tip of a multi-joint robot arm 64. The base end of the robot arm 64 is connected to the device body 20 via an adapter 66 similar to the adapter 14 of the first embodiment. The drug processing module 61 has a group of sensors 67 including an imaging unit 67a, and a communication unit 68 that enables communication with the outside. The drug processing module 61 has a drug processing control unit 69 that controls the drug delivery mechanism 62, the drug supply mechanism 63, the robot arm 64, the group of sensors 67, and the communication unit 68.

[0156] The chemical treatment control unit 69 can select the type of chemical, choose whether to spray or inject it, and control the supply amount based on instructions from the main unit 20 or the control device 100, or based on its own judgment. It can also control the robot arm 64 to move the chemical injection mechanism 62 to the chemical treatment target.

[0157] According to the climbing-type work device 60 of this embodiment, appropriate chemical treatment can be performed based on diagnostic results, and the amount of chemical used can be optimized.

[0158] [Fifth Embodiment] Referring to Figures 16 and 17, the climbing work device 70 according to the fifth embodiment will be described. The climbing work device 70 according to this embodiment is configured as follows. The climbing work device 70 has a device body 20 similar to that of the first embodiment.

[0159] When the columnar body 1 is a tree trunk 1, the climbing work device 70 has a cable suspension module 71 for supporting the cable that constitutes the cableway. The cable suspension module 71 has a mounting body 74, which is detachably attached to the device body 20 via an adapter 75 similar to the adapter 14 of the first embodiment.

[0160] The cable suspension module 71 has a main cable support section 72 that supports the main cable 4 of the cableway at the mounting body 74, and a tow cable support section 73 that supports the tow cable 5 at the mounting body 74. The tow cable support section 73 is located below the main cable support section 72, and the main cable support section 72 is configured to allow the cableway carrier 6 to pass through.

[0161] According to the climbing work device 70 of this embodiment, a cableway can be safely and easily installed by installing cable suspension modules 71 on multiple tree trunks 1. Using this cableway, the cut trunks 1, branches 2, etc. can be efficiently transported by the carrier 6.

[0162] [Sixth Embodiment] Referring to Figures 18 and 19, a work system according to the sixth embodiment will be described. The work system according to this embodiment includes one or more climbing work devices 10, 40, 50, 60, 70 according to the first to fifth embodiments, and a management device (external management device) 100. A wireless tag 200 is installed on the columnar body 1. This work system may also be equipped with an aerial flying vehicle 300 as needed.

[0163] The management device 100, wireless tag 200, and aerial aircraft 300 have communication units 101, 201, and 301 configured to enable wireless communication with the outside, and cooperate with the communication units of the climbing work devices 10, 40, 50, 60, and 70 to form a network communication network.

[0164] The management device 100 includes a calculation unit 102 configured to perform various calculations and a storage unit 103 configured to store various information. The calculation unit 102 can be a CPU (Central Processing Unit). The calculation unit 102 can also perform various calculations using AI.

[0165] The wireless tag 200 has a storage unit 202 configured to store identification information such as the identifier, location information, and work history of the columnar body 1. The aerial flying body 300 has a control unit 302 that controls it. However, the identification information is not limited to the information stored in the storage unit of the wireless tag. For example, the identification information can be information obtained from an identifier such as a QR code (registered trademark) attached to the tree, characteristic information obtained from an image of the tree, location information, etc., or a combination thereof. The columnar body may also be attached with image information, location information, growth information, environmental information, etc., instead of or in addition to the identification information.

[0166] Furthermore, the means for attaching identification information to the columnar body are not limited to wireless tags. For example, the means for attaching identification information to the columnar body can be wireless identifiers such as RFID (Radio Frequency Identification) and BLE, or optical identifiers such as QR codes (registered trademark) and barcodes.

[0167] Although not explicitly shown in the diagrams, the climbing work devices 10, 40, 50, 60, and 70 may have an identification information acquisition unit capable of acquiring identification information attached to a columnar body by a wireless tag 200 or the like. For example, the identification information acquisition unit may be configured to have a communication unit 28 and a control unit 29 of the device body 20. However, the identification information acquisition unit is not limited to this. For example, the identification information acquisition unit may also be configured to have a communication unit and a control unit of the work module. In addition to the control unit of the device body or work module, the identification information acquisition unit may be configured to have a scanner, camera, GPS, etc.

[0168] The control device 100 monitors and analyzes the state of the columnar body 1 based on information acquired from the wireless tag 200, climbing work devices 10, 40, 50, 60, 70, and each work module 11, 41, 51, 61, 71, and generates a work plan including work content and procedures based on the analysis results. Based on the generated work plan, the control device 100 can give instructions to the climbing work devices and the aerial aircraft 300 to perform tasks such as pruning, felling, diagnosis, chemical treatment, and transport.

[0169] Furthermore, this work system can be equipped with a transport device capable of transporting work modules 11, 41, 51, 61, and 71, and this transport device can replace work modules 11, 41, 51, 61, and 71 based on the work plan.

[0170] The aerial flying vehicle 300 is configured to be able to transport climbing work devices 10, 40, 50, 60, and 70 in the air. The climbing work devices 10, 40, 50, 60, and 70 are configured to be able to change the frame 21 of the device body 20 between an open state and a closed state, even when transported in the air.

[0171] Furthermore, the aerial flying vehicle 300 can be configured to suspend the climbing work devices 10, 40, 50, 60, and 70 by wires. In addition, the main body of the device 20 may be configured to include a propulsion mechanism (propeller, thruster, etc.) to assist in approaching the columnar body 1. This makes it possible to move the main body of the device 20 from above, passing through the gaps in the branches 2, and position it at any height on the columnar body 1.

[0172] In the work system according to this embodiment, multiple climbing work devices 10, 40, 50, 60, 70 and an aerial aircraft 300 can work in coordination (see Figure 19). For example, as shown in Figure 19, with multiple climbing work devices 10 having pruning modules 11 gripping different positions on the trunk 1, the trunk 1 can be cut by a climbing work device 40 equipped with a felling module 41 while being supported or towed by the aerial aircraft 300. With such a work system, felling work can be performed safely while stabilizing the posture of the trunk 1.

[0173] According to the work system of this embodiment, by combining climbing work devices 10, 40, 50, 60, 70 and various work modules 11, 41, 51, 61, 71, forest management work such as pruning, felling, diagnosis, chemical treatment, and transportation can be performed safely and efficiently. Furthermore, by generating and executing work plans based on the diagnosis results, work optimization and reduction of environmental impact can be achieved.

[0174] [Variations and Others] Furthermore, the work system according to this embodiment may also have the following features.

[0175] "Transportation control" As shown in Figure 19, the work system, for example, the main body 20 of a climbing work device 10, may have an estimation unit 29a for estimating the weight and center of gravity of an object. Such estimation can be performed based on the object's diameter, length, tree species, moisture content, density, or a combination thereof.

[0176] In the work system, the main body of the device 20 may have a transport control unit 29b that generates transport information, including thrust distribution and suspension positions for multiple aerial flying objects 300, based on the estimation results by the estimation unit 29a. The transport control unit 29b may be configured to determine the cutting position and cutting length of the object based on the transport information in order to improve stability and safety during transport.

[0177] The estimation unit 29a and the transport control unit 29b can be included in the control unit 29 of the main body of the device 20. However, the estimation unit and the transport control unit can also be included in a unit other than the control unit of the main body of the device.

[0178] "Coordinated transport by multiple aircraft" As shown in Figures 20 and 21, the multiple aerial aircraft 300 may be arranged to support an object at multiple points, or they may be configured to suspend the object at multiple points. Overall flight control can be controlled by a central control device (for example, the calculation unit 102 of the management device 100 or the control unit 29 of the device body 20).

[0179] Furthermore, multiple aerial flying units 300 may be connected by connecting members 401 to operate as a single transport unit 400. The connecting members 401 may be made of a lightweight, high-strength material such as carbon fiber reinforced plastic (CFRP), or they may be made of a rigid or semi-rigid material.

[0180] The connecting member 401 may have a plurality of V-shaped sections formed in a substantially V-shape. Two aerial flying bodies 300 may be connected to the two upper ends of each V-shaped section. The bottoms of the plurality of V-shaped sections may be connected to each other by at least one connecting section that extends substantially in a straight line horizontally.

[0181] The object, for example, a felled tree trunk 1, can be suspended by suspension wires 402 suspended from the bottom of each V-shaped section facing vertically downward. The suspension wires 402 can be wound up and unwound by a lifting device 403, and the object can be raised and lowered by the operation of such a lifting device 403. For example, the lifting device 403 can be a winch.

[0182] Each aerial aircraft 300 can be configured as a thrust generating unit. A thrust generating unit may be configured as a multirotor. However, the thrust generating unit is not limited to this. A thrust generating unit can be configured with any thrust generating means. For example, a thrust generating unit can be configured as a singlerotor.

[0183] Furthermore, the transporter 400 may have a load detection unit 404 capable of detecting load or stress. The transport control unit 29b may be configured to correct the thrust distribution of the thrust generation unit based on the detection result from the load detection unit 404. Furthermore, the transporter 400 may be equipped with a power supply, which may be configured as a range extender including a metal-air battery.

[0184] Although embodiments of the present invention have been described so far, the present invention is not limited to the embodiments described above, and the present invention can be modified and changed based on its technical concept. [Industrial applicability]

[0185] The present invention is widely applicable to various tasks in forest management, automated forestry work, and smart forestry systems, such as pruning, felling, diagnosis, chemical treatment, cableway installation, and transportation. It can also be used in various outdoor work systems, such as fallen tree removal and cable line work in disaster recovery, and maintenance and inspection of power or communication equipment. Furthermore, the present invention can be applied to garden tree management, street tree pruning, and inspection and replacement of equipment installed on columnar structures such as street lampposts and surveillance camera poles. Moreover, the present invention can be applied to forest work systems, transport systems, or collaborative work systems using aerial vehicles. [Explanation of symbols]

[0186] 1…Columnar structure, tree trunk, 2…Branches 10... Climbing type work device, 11... Work module (pruning module), 12... Branch cutting mechanism, 13... Cutting position adjustment mechanism 20...Main unit, 21...Frame, 25...Power supply, 26...Connector, 29a...Estimation unit, 29b...Transportation control unit 30...Travel body assembly, 31...Travel body, 31a...Contact part, 32...Pressing mechanism, 32a...Biasing part, 32b...Pressing drive part, 33...Drive part, 34...Direction change mechanism 40... Climbing-type work device, 41... Work module (logging module) 50... Climbing-type work device, 51... Work module (diagnostic module) 60... Climbing-type work device, 61... Work module (chemical treatment module) 70... Climbing-type work device, 71... Work module (cable suspension module) 300... Aerial flying object 400... Carrier, 401... Connecting member, 404... Load detection unit

Claims

1. In a climbing-type work device that can move along a columnar body, The device comprises a main body arranged along the outer circumference of the columnar body, The main body of the aforementioned device is A frame that can be deformed between an open state that allows it to detach from the columnar body and a closed state that surrounds the outer circumference of the columnar body, Multiple traveling bodies, each having a contact portion that contacts the outer circumference of the columnar body and supported by the main body of the device, Multiple pressing mechanisms that enable each of the multiple traveling bodies to press against the outer circumference of the columnar body, At least one drive unit that drives at least one of the plurality of traveling bodies and Includes, The frame is configured to be ring-shaped in the closed state, surrounding the entire outer circumference of the columnar body, and to be C-shaped in the open state, surrounding a part of the outer circumference of the columnar body. The plurality of traveling bodies are distributed in the circumferential direction of the columnar body, Each pressing mechanism has a biasing portion that biases the contact portion of the corresponding traveling body toward the outer circumference of the columnar body. The climbing work device is configured such that the main body of the device is movable in at least one of the longitudinal and circumferential directions of the columnar body by driving the at least one traveling body with the biasing portion of each pressing mechanism pressing the corresponding traveling body against the outer circumference of the columnar body, and is configured to follow changes in the diameter or outer circumference shape of the columnar body.

2. In the climbing type work device according to claim 1, The device body includes a plurality of drive units that independently drive each of the plurality of traveling bodies, and is a climbing type work device.

3. In the climbing type work device according to claim 1, A climbing work device in which the contact points of each traveling body are configured to roll around the outer circumference of the columnar body.

4. In the climbing type work device according to claim 1, Each pressing mechanism has a pressing drive unit configured to allow the corresponding traveling body to move in the radial direction of the columnar body. A climbing work device in which each pressing mechanism is configured such that its biasing portion maintains a state in which the contact portion of the corresponding traveling body is pressed against the outer circumference of the columnar body, while its pressing drive portion adjusts the position of the corresponding traveling body in accordance with changes in the diameter or outer circumference shape of the columnar body.

5. In the climbing type work device according to claim 1, The columnar body comprises a plurality of traveling body assemblies distributed in the circumferential direction, Each running body assembly includes two or more running bodies from the plurality of running bodies, A climbing work device in which two or more traveling bodies in each traveling body assembly are arranged side by side in the direction of travel or in a direction perpendicular to the direction of travel.

6. In the climbing type work device according to claim 1, The device body includes a plurality of direction-changing mechanisms configured to adjust the direction of travel of each of the plurality of traveling bodies, and is a climbing type work device.

7. In the climbing type work device according to claim 6, A climbing-type work device in which the biasing part of each pressing mechanism connects the pressing drive part of the pressing mechanism to the direction changing mechanism of the traveling body corresponding to the pressing mechanism.

8. In the climbing type work device according to claim 7, The climbing work device is configured such that the main body of the device moves spirally along the columnar body by driving each traveling body with the drive unit while each traveling body is inclined with respect to the longitudinal direction of the columnar body by a direction-changing mechanism.

9. In the climbing type work device according to claim 7, The climbing work device is configured such that the main body of the device can grip the columnar body at any position along the longitudinal direction of the columnar body by stopping the plurality of traveling bodies while each traveling body is inclined with respect to the longitudinal direction of the columnar body by a direction-changing mechanism.

10. In the climbing type work device according to Claim 1, A climbing work device having an identification information acquisition unit capable of acquiring identification information assigned to the columnar body.

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