WO2018061112A1

WO2018061112A1 - Application system and application method

Info

Publication number: WO2018061112A1
Application number: PCT/JP2016/078656
Authority: WO
Inventors: 裕之川端; 真知子秋吉; 晴紀柄澤
Original assignee: アトミクス株式会社
Priority date: 2016-09-28
Filing date: 2016-09-28
Publication date: 2018-04-05
Also published as: JPWO2018061112A1; JP6758668B2

Abstract

The purpose of the present invention is to provide an application system and application method with which it is possible to reduce costs and improve work efficiency. An application system (1), (11), (21), (31) is provided with: a paint sprayer (6), (16) (26) for spraying paint on the surface (R) of a building (B); a covering part (5), (15), (25), (35) for covering around the paint sprayer; a first flying body (2) flying while supporting the paint sprayer; and a second flying body (3), (13), (23) flying while supporting the covering unit. Thus, paint is sprayed on the surface of the building by the paint sprayer by the flying bodies flying in locations where spraying (application work) of paint is necessary.

Description

Coating system and coating method

The present invention relates to a coating system and a coating method.

Conventionally, for example, when painting an outer wall of a building, a scaffold is installed along the outer wall of the building, and after a curing is installed at an appropriate place, a painting operation may be performed (for example, Patent Documents). 1). After the painting work is completed, the scaffolding and curing are removed.

However, when performing exterior wall painting, costs for installing and removing the scaffolding and curing are incurred, and the construction period is increased accordingly.

JP 7-318510 A

An object of the present invention is to provide a coating system and a coating method which are intended to reduce costs and improve work efficiency.

The present invention is a painting system for painting a surface of a building, and a paint sprayer for spraying paint onto the surface of the building, a covering portion surrounding the paint sprayer, and supporting the paint sprayer The first flying body flying and the second flying body flying in support of the cover portion.

According to the present invention as described above, the first flying object flies over the surface of the building by the paint sprayer by flying in a place where the spray of paint (painting work) is necessary. Moreover, since the cover part is supported by the second flying body and the paint sprayer sprays the paint inside the cover part, scattering of the paint to the outside is prevented. According to this, it is possible to perform the painting work without installing a scaffold or curing as in the prior art. That is, it is possible to reduce the cost for installing and removing the scaffolding and curing, and to shorten the construction period. Therefore, cost reduction and work efficiency can be improved.

In the coating system of the present invention, it is preferable that a plurality of the second flying bodies are provided. According to this, the cover part is stably supported by the plurality of second flying bodies.

In the painting system of the present invention, it is preferable that the painting system further includes photographing means for photographing the surface of the building, and the photographing means is supported by the first flying object or the second flying object. . According to this, the painted surface can be photographed by the photographing means. Therefore, the operator can perform the painting operation while visually recognizing the image of the painted surface on the ground.

In the painting system of the present invention, the first flying object operating means for controlling the flight of the first flying object by communicating with the first flying object, and the second flying object by communicating with the second flying object. It is preferable that the vehicle further includes a second flying object operating unit that controls the flight of the vehicle, an image receiving unit that receives an image from the imaging unit, and a display unit that displays an image received by the image receiving unit. . According to this, the surface of the building imaged by the imaging means while controlling the flight of the first flying object by the first flying object operating means and controlling the flight of the second flying object by the second flying object operating means. The image of the (painted surface) can be received by the image receiving unit, and the image can be displayed by the display unit. Therefore, even if the worker is at a position away from the surface of the building, the painting operation can be performed while visually recognizing the image of the painted surface on the ground.

Moreover, in the coating system of this invention, the said cover part is comprised from the some division | segmentation member by which the cylindrical member was divided | segmented into the circumferential direction, for example, and each of these division | segmentation members is supported by the said 2nd flying body. It is preferable that According to this, for example, even in the case of painting a narrow place where the cylindrical cover cannot enter, the one-way in the state where the divided members are shifted from each other in one direction in the radial direction. Since the dimension in the other direction can be reduced by approaching in the other direction orthogonal to the direction, it is possible to paint a narrow place where the cylindrical cover cannot enter.

On the other hand, the present invention is a coating method for painting a surface of a building, wherein a paint sprayer for spraying paint onto the surface of the building is supported by a first flying body, A covering portion covering the periphery is supported by the second flying body, and the coating material sprayer sprays the coating material on the surface of the building inside the covering portion.

According to the painting system and the painting method of the present invention, painting work can be performed without installing a scaffold or curing. Therefore, the work efficiency can be improved.

It is a perspective view which shows the coating system which concerns on 1st Embodiment of this invention. It is a schematic diagram for demonstrating the coating system shown by FIG. It is a schematic diagram for demonstrating the modification of the coating system shown by FIG. It is a perspective view which shows the coating system which concerns on 2nd Embodiment of this invention. It is a perspective view which shows the coating system which concerns on 3rd Embodiment of this invention. It is a perspective view which shows the coating system which concerns on 4th Embodiment of this invention.

(First embodiment)
Hereinafter, the coating system 1 which concerns on 1st Embodiment of this invention is demonstrated with reference to FIG. 1, FIG. The coating system 1 of this embodiment is for painting the surface of the roof R of the building B (building) as shown in FIGS. 1 and 2, and is located on the lower side at different positions in the height direction. The flying object 2 (first flying object) and the upper flying object 3 (second flying object), the tablet 4 as a mobile device for controlling the lower flying object 2 and the upper flying object 3, and the upper flying object 3 And a paint sprayer 6 supported by the lower flying body 2. In the present embodiment, the expression “at different positions in the height direction” does not necessarily mean that the lower flying body 2 and the upper flying body 3 are positioned above and below the vertical direction. It also includes being at a crossing position. Further, in this embodiment, the “building” is a concept including not only a building standing on the ground but also an object such as a flying body that requires a scaffold when painting.

The lower flying object 2 and the upper flying object 3 have flight controllers (not shown), and they fly unmanned by operating the tablet 4 so that they fly independently.

The lower flying object 2 and the upper flying object 3 are each composed of, for example, a hexacopter having four rotors 20 (four in the illustrated example), and four batteries (not shown) having a total of 5000 mA / h or more. It is desirable that they are mounted in a distributed manner. Thereby, the lower side flying body 2 and the upper side flying body 3 have a performance capable of mounting a continuous flight of up to 30 minutes and a heavy object of up to 4 kg. Furthermore, the lower flying body 2 and the upper flying body 3 are configured to have waterproof and dustproof specifications, and can be hovered in the air and can be moved vertically and horizontally from the hovering state. It has the function to do.

A paint sprayer 6 for painting the painted surface S is supported on the lower surface of the lower flying object 2. The lower flying object 2 sprays paint on the surface of the roof R that needs to be painted (painted surface S) by flying inside the cover 5 supported by the upper flying object 3. Such a lower flying object 2 is controlled (controlled) by the tablet 4 so as to fly in a place (painted surface S) that needs to be painted. That is, the tablet 4 has a first flying object operating means that communicates with the lower flying object 2 (first flying object) and controls the flight of the lower flying object 2.

The upper flying body 3 has a stereo camera 7 (photographing means) for photographing the painted surface S (the surface of the roof R) on the lower surface thereof. The stereo camera 7 is a camera that can capture information in the depth direction by simultaneously photographing an object from a plurality of different directions. The stereo camera 7 has a built-in data transmission unit (not shown) for transmitting photographing data, and the photographing data is appropriately transmitted to the receiving unit 41 of the tablet 4 by the data transmitter. The stereo camera 7 is controlled by the tablet 4 so as to zoom in (take the subject gradually larger in the screen) or zoom out (take the subject gradually smaller in the screen).

Such an upper flying body 3 is controlled to fly along a predetermined flight route stored in the ROM of the control unit. That is, the upper flying body 3 is controlled in advance so as to fly over the entire surface of the coating surface S from one side to the other side and from the other side to the other side without any gap. In this way, the upper flying body 3 is controlled to fly on the painted surface S along the predetermined flight route. That is, the tablet 4 has a second flying object operating means that communicates with the upper flying object 3 (second flying object) and controls the flight of the upper flying object 3.

The tablet 4 includes a battery (not shown), a control unit (not shown), a wireless transmission / reception unit 40 including a receiving unit 41 (image receiving unit), an operation unit (not shown), and a display unit (not shown). , And is configured. The battery supplies power to the tablet 4. The operation unit and the display unit are configured from an operation panel provided with a touch sensor. For example, the wireless transmission / reception unit 40 transmits a control signal for controlling the receiving unit 41 for receiving photographing data from the stereo camera 7, the lower flying object 2, the stereo camera 7, and the paint sprayer 6. And a transmission unit 42. The wireless transmission / reception unit 40, the operation unit, and the display unit are controlled by the control unit.

The control unit includes a ROM that stores a processing program, a CPU that performs various processes according to the processing program stored in the ROM, and a RAM that stores, for example, photographing data received by the wireless transmission / reception unit 40. It is configured. The wireless transmission / reception unit 40 is configured to be able to communicate wirelessly with the flight controller of the lower aircraft 2, the stereo camera 7, and the paint sprayer 6.

The cover 5 is formed in a cylindrical

shape having openings

5 a and 5 b at both ends in the axial direction, and is provided at the upper end of the cylindrical member 51 provided so that the shaft extends vertically. And a support ring 52 that supports the cylindrical member 51, and a wheel portion 53 provided on the support ring 52. The cylindrical member 51 is made of a sheet made of a material that is lightweight and can prevent spray mist from scattering, such as a polyethylene raschel knitted sheet. The wheel portion 53 has a plurality of rod-like portions 53 </ b> A that extend in the radial direction of the support ring 52 through the center (center axis) P of the support ring 52 and is configured in a radial manner.

Furthermore, the cover part 5 has a support member 54 that supports the cover part 5 with its upper end fixed to the upper aircraft 3 and its lower end fixed to the center P of the support ring 52. The cover member 5 is supported by the upper aircraft 3 by the support member 54, and the cover 5 is configured to move in conjunction with the movement of the upper aircraft 3.

The paint sprayer 6 includes a paint tank 61 in which paint is stored, and a sprayer 62 that is fixed to the lower surface of the paint tank 61 and sprays the paint stored in the paint tank 61. The paint sprayer 6 is fixed to the lower surface of the lower aircraft 2. The paint sprayer 6 is equipped with a pump motor (not shown) and sprays without using a compressor. As the paint stored in the paint tank 61, a water-based and highly viscous architectural paint with little scattering is used. Such a paint sprayer 6 is configured to spray paint within a circular range centering on an axis orthogonal to the lower surface of the lower flying object 2. That is, in this embodiment, the paint sprayer 6 is fixed to the lower flying body 2 so as to spray the paint downward.

The sprayer 62 is controlled by the tablet 4 so that the spraying of the paint can be started and stopped. That is, the sprayer 62 has a built-in signal receiving unit (not shown) for receiving a control signal from the tablet 4. Further, the sprayer 62 appropriately measures the distance from the paint surface S (the surface of the roof R) to the spraying part (not shown) of the sprayer 62 and transmits the distance to the tablet 4. (Shown) is built-in.

Such a paint sprayer 6 is supported by the lower aircraft 2 and is controlled by the tablet 4 so that it can move inside the cover 5 together with the lower aircraft 2. Then, the paint sprayer 6 appropriately measures the separation distance from the coating surface S (the surface of the roof R) to the spraying part (not shown) of the sprayer 62 inside the cover part 5 and starts spraying at an appropriate place. It is controlled by the tablet 4 so as to stop spraying at an appropriate place.

Next, a coating method for coating the surface of the roof R of the building B using the coating system 1 having the above-described configuration will be described.

The flight path of the upper flying body 3 is stored in advance in the ROM stored in the control unit of the tablet 4. Further, the upper flying body 3 is controlled such that the lower end of the cover 5 flies at a position slightly separated from the surface of the roof R. In the coating system 1, the upper flying object 3 starts to fly by the operator's operation on the operation panel (hereinafter simply referred to as “operation”) in a state where the upper flying object 3 supports the cover 5. The lower aircraft 2 is positioned inside the cover 5 while supporting the paint sprayer 6. The upper flying body 3 flies along a predetermined flight path. The cover 5 moves in conjunction with the flight (movement) of the upper flying body 3.

Subsequently, the lower flying object 2 starts to fly by operating the tablet 4. At this time, the paint sprayer 6 is supported by the lower flying body 2 and is located inside the cover 5. In addition, shooting of the stereo camera 7 is started by operating the tablet 4. In addition, image data captured by the stereo camera 7 is appropriately received by the receiving unit 41 of the tablet 4 and displayed on the display unit of the tablet 4. The worker visually recognizes the shooting data displayed on the display unit.

The operator controls the lower flying object 2 to fly above the portion (painting surface S) that needs to be painted by manipulating the lower flying object 2 while visually checking the photographing data displayed on the display unit. . And while the tablet 4 receives the separation distance from the coating surface S (the surface of the roof R) transmitted from the data transmission unit of the sprayer 62 to the spraying part (not shown) of the sprayer 62, the separation distance is appropriately set. When the distance becomes short, spraying of the paint onto the painted surface S is started. While being supported by the lower aircraft 2, the sprayer 62 sprays paint, and the upper aircraft 3 flies in a previously stored flight path. Then, the upper flying body 3 completes the flight along the previously stored flight path. The spraying of the paint on the coating surface S is stopped, and the operation of the lower flying object 2 is stopped. Thus, the painting operation is completed.

According to the coating system 1 as described above, the lower flying body 2 (first flying body) flies over a place where the spraying (painting work) of the paint is necessary, so that the surface of the building B by the paint sprayer 6. The paint is sprayed on. Moreover, since the cover part 5 is supported by the upper side flight body 3 (2nd flight body) and the coating material sprayer 6 sprays a coating material inside the covering part 5, scattering of the coating material to the exterior is prevented. According to this, the painting work can be performed without installing a scaffold or a curing. That is, it is possible to reduce the cost for installing and removing the scaffolding and curing, and to shorten the construction period. Therefore, cost reduction and work efficiency can be improved.

In addition, the lower flying object 2 and the upper flying object 3 fly unmanned by operating the tablet 4, so that the operator can perform painting work at a ground base without working at a high place. The danger of working at heights by the operator can be avoided. Further, when the lower flying object 2 and the upper flying object 3 are unmanned by remote operation, the operator of the flying object can perform the work by at least one person, thereby reducing the number of workers. it can. That is, the cost associated with the painting operation can be reduced. Further, it is possible to make it difficult for the finish of the painted surface S to vary depending on the skill of the operator.

Further, the painting system 1 includes a stereo camera 7 (photographing means) for photographing the surface of the roof R of the building B. According to this, the painted surface S can be imaged by the stereo camera 7 (imaging means). Accordingly, the painting operation can be performed while visually recognizing the painted surface S with an image.

Note that the present invention is not limited to the above-described embodiment, and includes other configurations and the like that can achieve the object of the present invention, and the following modifications are also included in the present invention.

In the first embodiment described above, the stereo camera 7 (photographing means) is mounted on the lower surface of the upper aircraft 3, but the present invention is not limited to this. Even if the photographing means is not mounted on the lower surface of the upper flying body 3, it may be mounted on a place where the painted surface S can be photographed.

Further, in the first embodiment described above, the stereo camera 7 (photographing means) is mounted on the lower surface of the upper flying body 3, but the present invention is not limited to this. The photographing means may be mounted at any place on the lower flying object 2 so as to photograph the painted surface S.

In the first embodiment described above, the tablet 4 includes a control unit (not shown), a wireless transmission / reception unit 40 including a reception unit 41 (image reception unit), an operation unit (not shown), and a display unit (not shown). However, the present invention is not limited to this. As shown in FIG. 3, the coating system of the present invention has a control system including a host computer (not shown). The host computer includes a control unit (not shown) and a receiving unit 41 (image receiving unit). The wireless transmission / reception part 40 including, an operation part, and a display part (not shown) may be provided. In this case, the tablet may be omitted. That is, the operator can operate the lower aircraft 2 by remotely operating the lower aircraft 2 using the host computer without visiting the painting site and operating the lower aircraft 2. It may be. In FIG. 3, members having substantially the same function or substantially the same configuration as those of the first embodiment are denoted by the same reference numerals, and description thereof is omitted.

(Second Embodiment)
Then, the coating system which concerns on 2nd Embodiment is demonstrated with reference to FIG. FIG. 4 is a perspective view showing a coating system 11 according to the second embodiment of the present invention. In FIG. 4, members having substantially the same function or substantially the same configuration as those of the first embodiment are denoted by the same reference numerals, and description thereof is omitted.

The painting system 11 according to the second embodiment includes one lower aircraft 12 (first aircraft), a plurality (two in the illustrated example) upper aircraft 13 (second aircraft), and two upper aircraft. The cover 15 is supported by the side aircraft 13 and the paint sprayer 6 is supported by the lower aircraft 12. In addition, a stereo camera 7 is mounted on each of the two upper flying bodies 3.

The covering portion 15 has

arcuate surface portions

15A and 15B (divided members) that are semicircular when viewed from above. That is, the cover 15 is configured by dividing a cylindrical (tubular) member into two in the circumferential direction. These two

arcuate surface portions

15A and 15B are supported by the upper flying bodies 13, respectively. As shown in FIG. 4, the two

arcuate surface portions

15A and 15B are arranged in one direction in the radial direction of the

arcuate surface portions

15A and 15B in a state where the positions are shifted from each other in one radial direction of the

arcuate surface portions

15A and 15B. It is controlled so as to be able to contact and separate in other directions perpendicular to each other. Here, in the arcuate surface portions 15 </ b> A and 15 </ b> B, if the relative positional deviation in one direction in the radial direction is made small, the entire circumference of the paint sprayer 6 can be covered.

In the present embodiment, the

arcuate surface portions

15A and 15B are formed so as to be semicircular (C-shaped) when viewed from above, but the present invention is not limited to this. The

arcuate surface portions

15A and 15B may be formed so that the top view is U-shaped or V-shaped.

In the present embodiment, the cover 15 is configured by dividing a cylindrical member into two in the circumferential direction, but the present invention is not limited to this. The cylindrical member may be divided into three or more.

According to the coating system 11 as described above, the cover portion 15 is composed of two (plural)

arcuate surface portions

15A and 15B (divided members) obtained by dividing a cylindrical member in the circumferential direction. Each of 15A and 15B (dividing member) is supported by the upper flying body 13 (second flying body). According to this, for example, even when painting a narrow place where the cylindrical cover portion 15 cannot enter, the

arcuate surface portions

15A and 15B (divided members) are mutually positioned in one radial direction. In a shifted state, in the radial direction, by approaching the other direction orthogonal to the one direction, the dimension in the other direction can be reduced, so that a narrow place where the cylindrical cover cannot enter is painted. It becomes possible.

(Third embodiment)
Then, the coating system which concerns on 3rd Embodiment is demonstrated with reference to FIG. FIG. 5 is a perspective view showing a coating system 21 according to the third embodiment of the present invention. In FIG. 5, members having substantially the same function or substantially the same configuration as those of the first and second embodiments are denoted by the same reference numerals, and description thereof is omitted.

As shown in FIG. 5, the coating system 21 according to the third embodiment is for coating an outer wall H (surface) of a building B (building). 1 aircraft) and one upper aircraft 3 (second aircraft), a cover portion 25 supported by the upper aircraft 3, and a paint sprayer 26 supported by the lower aircraft 2. Configured.

The covering portion 25 has an arcuate surface portion that is semicircular when viewed from above. As shown in FIG. 3, the arcuate surface portion is disposed such that the surface F including the central axis P faces the outer wall surface H of the building B. That is, in the present embodiment, the periphery of the paint sprayer 26 is covered by the cover 25 and the outer wall H of the building B including the painted surface S.

The paint sprayer 26 includes a paint tank 63 in which paint is stored, and a sprayer 64 that is fixed to the lower surface of the paint tank 63 and sprays the paint stored in the paint tank 63. The sprayer 64 is fixed to the lower surface of the paint tank 63. Such a paint sprayer 26 is configured to spray the paint within a circular range centering on an axis along the lower surface of the lower aircraft 2. That is, in the present embodiment, the paint sprayer 26 is fixed to the lower flying body 2 so as to spray the paint toward the side.

According to the coating system 21 as described above, the cover portion 25 is configured to have an arcuate surface portion that is semicircular in top view. Further, the paint sprayer 26 is fixed to the lower flying object 2 so as to spray the paint toward the side. According to this, it becomes possible to paint the outer wall surface H of the building B.

(Fourth embodiment)
Then, the coating system which concerns on 4th Embodiment is demonstrated with reference to FIG. FIG. 6 is a perspective view showing a coating system 31 according to the fourth embodiment of the present invention. In FIG. 6, members having substantially the same function or substantially the same configuration as those of the first to third embodiments are denoted by the same reference numerals, and the description thereof is omitted.

The painting system 31 according to the fourth embodiment is for painting the surface of the roof R of the building B (building), and the lower side flying body 2 (first flying body) at different positions in the height direction. ) And the upper flying object 23 (second flying object), a cover 35 supported by the upper flying object 23, and a paint sprayer 6 supported by the lower flying object 2. Yes.

A plurality (4 in the drawing) of upper flying bodies 23 are provided. Further, the stereo camera 7 is mounted on each of the four upper flying bodies 23.

The covering portion 35 includes a rectangular tube portion 36 that opens up and down, and a rectangular edge portion 37 that is provided at an upper end of the rectangular tube portion 36 and supports the rectangular tube portion. The rectangular tube portion 36 is made of, for example, a polyethylene raschel knitted sheet. The rectangular edge portion 37 has a pair of

long side portions

37A and 37B and a pair of

short side portions

37C and 37D, and is formed to have a rectangular shape when viewed from above. As for each

long side part

37A, 37B, the lower end of the supporting member 54 is being fixed to the position which opened the predetermined space | interval from the both ends.

According to the coating system 31 as described above, a plurality of upper flying bodies 23 (second flying bodies) are provided, and each cover 5 is supported by each upper flying body 23 (second flying body). . According to this, the cover part 5 is stably supported by the several upper side flight body 23 (2nd flight body).

In addition, the best configuration and method for carrying out the present invention have been disclosed in the above description, but the present invention is not limited to this. That is, the invention has been illustrated and described primarily with respect to particular embodiments, but with respect to the embodiments described above without departing from the spirit and scope of the invention. Various modifications can be made by those skilled in the art in terms of shape, material, quantity, and other detailed configurations. Therefore, the description limiting the shape, material, etc. disclosed above is an example for easy understanding of the present invention, and does not limit the present invention. The description by the name of the member which remove | excluded the limitation of one part or all of such is included in this invention.

1, 11, 21, 31 Coating system 2 Upper aircraft (first aircraft)
3, 13, 23 Lower aircraft (second aircraft)
5, 15, 25, 35

Cover

15A, 15B Arc-shaped surface (divided member)
6, 16, 26 Paint sprayer 7 Stereo camera (photographing means)
B Building (Building)
R Roof H Exterior wall (surface)

Claims

A painting system for painting the surface of a building,
A paint sprayer for spraying paint on the surface of the building;
A cover covering the periphery of the paint sprayer;
A coating system, comprising: a first flying body that supports the paint sprayer and flies; and a second flying object that supports the cover and flies.
The coating system according to claim 1, wherein a plurality of the second flying bodies are provided.
It further comprises photographing means for photographing the surface of the building,
The coating system according to claim 1, wherein the photographing unit is supported by the first flying object or the second flying object.
First aircraft operating means for communicating with the first aircraft to control the flight of the first aircraft;
Second aircraft operating means for controlling the flight of the second aircraft in communication with the second aircraft;
An image receiving unit for receiving an image from the photographing means;
The coating system according to claim 3, further comprising a display unit that displays an image received by the image receiving unit.
The said cover part is comprised from the several division member by which the cylindrical member was divided | segmented into the circumferential direction, and each of these division members is supported by the said 2nd flight body. The coating system according to any one of claims 1 to 4.
A painting method for painting the surface of a building,
A paint sprayer for spraying paint on the surface of the building is supported by the first aircraft,
A cover covering the periphery of the paint sprayer is supported by the second flying object;
The coating method, wherein the paint sprayer sprays the paint on the surface of the building inside the covering portion.