JP2020037363A - Unmanned aircraft, and structure maintenance inspection method - Google Patents

Abstract

To facilitate control of an unmanned aircraft for performing a maintenance inspection for a structure, and to provide an unmanned aircraft capable of performing maintenance inspection work for a wall surface of the structure stably and accurately, and a structure maintenance inspection method using the unmanned aircraft.SOLUTION: There is provided an unmanned aircraft equipped with an unmanned aircraft body and wheels attached to the unmanned aircraft body, the wheels moving along a guide on a structure side, and a structure maintenance inspection method using the unmanned aircraft. By keeping a constant distance between the unmanned aircraft body and the wall surface of the structure in addition to putting a restriction on the moving direction of the unmanned aircraft body by the guide, the control of the unmanned aircraft body is facilitated, and stable and accurate maintenance inspection work is enabled.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an unmanned aerial vehicle that performs maintenance (inspection, cleaning, repair, and the like) on a structure, and a method of maintaining and inspecting a structure using the unmanned aerial vehicle. In particular, the present invention relates to an unmanned aerial vehicle for performing maintenance and inspection in a closed space and a method for maintaining and inspecting a structure using the unmanned aerial vehicle.

  Conventionally, when performing maintenance and inspection on the internal structure of a building, which is a closed space that is shielded from the outside, and on structures such as equipment placed inside the building, secure work space for maintenance and inspection by humans at high places. Is needed. For example, when inspecting, cleaning, or repairing water pipes installed on the inner wall surface of a structure, a scaffold for work is set up inside the structure each time, and a worker climbs the scaffold and moves to a predetermined position on the water pipes. Inspection, cleaning, repair, etc. were performed at the location. In this method, a large number of construction days and costs were required to build a scaffold.

  Therefore, use of unmanned aerial vehicles has been studied for such maintenance and inspection work. For example, Patent Literature 1 discloses an inspection system using an unmanned aerial vehicle that automatically flies along a predetermined flight route in a facility in which equipment that requires inspection is housed.

JP-A-2017-154577

  Generally, control of an unmanned aerial vehicle requires four-axis controls called vertical (throttle), left and right (aileron), forward and backward (elevator), and rotational direction (rudder). Since skills are required, it is necessary for maintenance and inspection site workers to acquire the skills. Further, as shown in Patent Document 1, automation of control of an unmanned aerial vehicle is also performed.

  However, when performing maintenance inspections on structures using unmanned aerial vehicles, especially in enclosed spaces, the wind generated by the unmanned aerial vehicles themselves becomes a disturbance factor, and the attitude of the unmanned aerial vehicles is not stable, making it extremely difficult to control. Occurs. In particular, as the volume of the closed space becomes smaller, the influence of the disturbance factor becomes larger. For this reason, it is difficult to automate all controls of the unmanned aerial vehicle, and the operation requires training and placement of highly skilled workers, resulting in time and costs related to maintenance and inspection. There is a problem that it takes.

  In addition, if the unmanned aerial vehicle is hovered at the center of the enclosed space to prevent the unmanned aerial vehicle from colliding with the wall of the structure, the distance between the unmanned aerial vehicle and the wall of the structure increases, and the maintenance of the wall of the structure There is a problem that the accuracy of the inspection is reduced.

  Therefore, according to the present invention, in an unmanned aerial vehicle that performs maintenance (inspection, cleaning, repair, etc.) on a structure, control of the unmanned aerial vehicle is facilitated, and maintenance and inspection work on the wall surface of the structure is performed stably and with high accuracy. An object of the present invention is to provide an unmanned aerial vehicle and a method for maintaining and inspecting a structure using the unmanned aerial vehicle.

The present inventor has conducted intensive studies on the above problems, and as a result, by adopting a configuration in which movement of the unmanned aerial vehicle is provided with a certain limit, control of the unmanned aerial vehicle is facilitated, and the unmanned aerial vehicle is fixed with respect to the wall surface of the structure. The present inventors have found that the maintenance and inspection work can be performed stably and with high accuracy by making it easy to keep the distance of.
That is, the present invention is the following unmanned aerial vehicle and a structure maintenance / inspection method using the unmanned aerial vehicle.

  An unmanned aerial vehicle of the present invention for solving the above-mentioned problem is an unmanned aerial vehicle that performs maintenance and inspection on a structure, and the unmanned aerial vehicle body, wheels attached to the unmanned aerial vehicle body, and the wheels are in close contact with the wall surface of the structure. And the wheel moves along a guide on the structure side.

  According to this unmanned aerial vehicle, the wheel provided on the unmanned aerial vehicle body moves along the guide on the structure side, so that a certain limit can be provided in the direction in which the unmanned aerial vehicle body moves. According to this unmanned aerial vehicle, the unmanned aerial vehicle itself with the wheels attached thereto keeps a certain distance from the wall of the structure by providing a contact mechanism for allowing the wheels to adhere to the wall of the structure. State. Therefore, in addition to restricting the moving direction of the unmanned aerial vehicle body by the guide, by maintaining a certain distance between the unmanned aerial vehicle body and the wall of the structure, the number of operation axes required for the unmanned aerial vehicle body is reduced. This makes it possible to control the unmanned aerial vehicle body easily.

  Further, according to this unmanned aerial vehicle, by providing an adhesion mechanism for the wheels to adhere to the wall surface of the structure, the body of the unmanned aerial vehicle to which the wheels are attached can be maintained without colliding against the wall surface of the structure. It is possible to keep a distance suitable for inspection. This makes it possible to enhance the stability and accuracy of maintenance and inspection on the wall surface of the structure.

  An unmanned aerial vehicle according to the present invention for solving the above-mentioned problems is an unmanned aerial vehicle that performs maintenance and inspection on a structure, and a controller that moves the unmanned aerial vehicle body with only one axis, an unmanned aerial vehicle body, and a wheel attached to the unmanned aerial vehicle body. And the wheels move along a guide on the structure side.

  According to this unmanned aerial vehicle, the wheel provided on the unmanned aerial vehicle body moves along the guide on the structure side, so that a certain limit can be provided in the direction in which the unmanned aerial vehicle body moves. Further, according to this unmanned aerial vehicle, by using a one-axis controller to move the unmanned aerial vehicle, it is possible to reduce the operation required for the unmanned aerial vehicle body in addition to restricting the moving direction of the unmanned aerial vehicle body by the guide. Thus, control of the unmanned aerial vehicle body becomes easy.

Further, the unmanned aerial vehicle of the present invention has a feature that at least one wheel is mounted on each side of the unmanned aerial vehicle main body, and a distance between the wheels can be changed.
According to this feature, by providing the wheels on both sides of the unmanned aerial vehicle body, it is easy to stabilize the attitude of the unmanned aerial vehicle when the wheels are moved along the guide on the structure side. In addition, since the distance between the wheels can be changed, it is possible to cope with the guide width on the structure side.

  The structure maintenance and inspection method of the present invention for solving the above-described problems is a structure maintenance and inspection method using an unmanned aerial vehicle, wherein the unmanned aerial vehicle is an unmanned aerial vehicle body and wheels attached to the unmanned aerial vehicle body, A wheel is provided with a contact mechanism for bringing the wheel into close contact with the wall surface of the structure, and the wheel is moved along a guide on the structure side in a state of being brought into close contact with the wall surface of the structure.

  According to this structure maintenance and inspection method, when controlling the unmanned aerial vehicle, the wheels provided on the unmanned aerial vehicle body move along the guides on the structure side, so that the unmanned aerial vehicle body moves in a fixed direction. Can be set. In addition, the unmanned aerial vehicle has a contact mechanism for the wheels to adhere to the wall of the structure, so the unmanned aerial vehicle itself with the wheels attached keeps a certain distance from the wall of the structure It can be. Therefore, in addition to restricting the moving direction of the unmanned aerial vehicle body by the guide, by maintaining a certain distance between the unmanned aerial vehicle body and the wall of the structure, the number of operation axes required for the unmanned aerial vehicle body is reduced. Can be reduced. As a result, the control of the unmanned aerial vehicle body is facilitated, and the burden on the worker who performs maintenance and inspection on the structure can be reduced.

  According to the maintenance and inspection method for a structure, the unmanned aircraft body equipped with the wheels collides against the wall of the structure by providing the adhesion mechanism for the wheels to adhere to the wall of the structure. Without maintaining a distance suitable for maintenance and inspection. This makes it possible to enhance the stability and accuracy of maintenance and inspection on the wall surface of the structure.

  The structure maintenance and inspection method of the present invention for solving the above-described problems is a structure maintenance and inspection method using an unmanned aerial vehicle, wherein the unmanned aerial vehicle is an unmanned aerial vehicle body and wheels attached to the unmanned aerial vehicle body, A uniaxial controller for the unmanned aerial vehicle main body, wherein the wheels are moved along a guide on the structure side, and the unmanned aerial vehicle main body is moved in one axial direction relative to the structure by the one-axis controller.

  According to this structure maintenance and inspection method, when controlling an unmanned aerial vehicle, the direction in which the unmanned aerial vehicle body moves is performed by moving wheels provided for the unmanned aerial vehicle body along guides on the structure side. May be in a state where a certain limit is provided. Further, by using a one-axis controller as a controller for moving the unmanned aerial vehicle, it is possible to reduce the operation required for the unmanned aerial vehicle body in addition to restricting the moving direction of the unmanned aerial vehicle body by the guide. As a result, the control of the unmanned aerial vehicle body is facilitated, and the burden on the worker who performs maintenance and inspection on the structure can be reduced.

  According to the present invention, in an unmanned aerial vehicle that performs maintenance inspection (inspection, cleaning, repair, etc.) on a structure, control of the unmanned aerial vehicle is facilitated, and maintenance and inspection work on the wall surface of the structure is executed stably and with high accuracy. An unmanned aerial vehicle and a method for maintaining and inspecting a structure using the unmanned aerial vehicle can be provided.

FIG. 1 is a schematic explanatory view (perspective view) showing a structure of an unmanned aerial vehicle according to a first embodiment of the present invention. FIG. 1 is a schematic explanatory view (front view) illustrating a structure of an unmanned aerial vehicle according to a first embodiment of the present invention. FIG. 2 is a schematic explanatory view (side view) illustrating the structure of the unmanned aerial vehicle according to the first embodiment of the present invention. It is a schematic explanatory view showing other modes about a wheel structure in an unmanned aerial vehicle of a 1st embodiment of the present invention. It is a process explanatory view of a maintenance inspection work of a structure using an unmanned aerial vehicle of a first embodiment of the present invention. It is a schematic explanatory view showing the structure of the unmanned aerial vehicle of the second embodiment of the present invention. It is a schematic explanatory view showing the structure of the unmanned aerial vehicle of the third embodiment of the present invention. It is a schematic explanatory view showing the structure of the unmanned aerial vehicle of the fourth embodiment of the present invention.

Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the accompanying drawings.
Note that the unmanned aerial vehicle described in the embodiment is merely an example for explaining the unmanned aerial vehicle according to the present invention, and is not limited to this. Further, the method for maintaining and inspecting a structure using an unmanned aerial vehicle described in the embodiment is also merely an example for describing the method for maintaining and inspecting a structure using an unmanned aerial vehicle according to the present invention, and is not limited thereto. It is not something to be done.

  The unmanned aerial vehicle of the present invention relates to an unmanned aerial vehicle that performs maintenance and inspection on a structure. In particular, it is suitably used for maintenance and inspection of a structure in a closed space. For example, it is used for maintenance and inspection of a water pipe installed on a wall surface of a reactor or the like. The structure to be subjected to maintenance and inspection in the embodiment is an example for explaining the present invention, and is not limited to this.

[First Embodiment]
FIG. 1 is a schematic explanatory view (perspective view) showing an unmanned aerial vehicle according to a first embodiment of the present invention. FIG. 2 is a schematic explanatory view (front view) showing the unmanned aerial vehicle according to the first embodiment of the present invention. FIG. 3 is a schematic explanatory view (side view) showing the unmanned aerial vehicle according to the first embodiment of the present invention. In addition, the black arrow in the figure indicates the moving direction of the unmanned aerial vehicle. The white arrows in the figure indicate the direction of the force acting on the unmanned aerial vehicle.
The unmanned aerial vehicle 1a according to the present embodiment is for performing maintenance and inspection on a structure 100, and includes an unmanned aerial vehicle body 2, wheels 3, and a contact mechanism 4, as shown in FIG. In addition, the unmanned aerial vehicle 1a includes a maintenance and inspection work unit 5 for performing maintenance and inspection on the structure 100.

  As shown in FIG. 1, a structure 100 to be subjected to maintenance and inspection has a guide 102 on a wall surface 101. The guide 102 may have any structure as long as it can guide the traveling of the wheel 3, and the detailed structure is not particularly limited. However, it is preferable that the guide 102 has a concave structure in which the wheel 3 does not easily fall off. Further, the guide 102 may be straight, inclined, or meandering with respect to the vertical direction of the structure 100.

  Further, the guide 102 is used at the time of maintenance and inspection work, and the form of permanent or temporary installation is not particularly limited. For example, as a permanent configuration, a configuration utilizing the configuration of the structure 100 itself, such as a wall (fin) between water pipes in a reactor, may be mentioned. Thus, there is an advantage that it is not necessary to install the device every time maintenance work is performed. In addition, as a temporary form, a structure (a rail or the like) corresponding to the guide 102 is brought in from the outside and temporarily placed or attached to the structure 100. This makes it possible to perform maintenance and inspection work on the structure using the unmanned aerial vehicle of the present invention, regardless of the original structure of the wall surface 101.

As shown in FIG. 2, the unmanned aerial vehicle body 2 has a central portion 21, an arm 22, a motor 23, and a rotary wing 24. The central portion 21 includes a transmission / reception unit for communicating with the outside, a drive circuit for the motor 23, a battery, and the like. The unmanned aerial vehicle body 2 performs operations by communicating with other devices such as a controller by a transmission / reception unit. The communication means of the transmission / reception unit may be wired or wireless. The arm 22 extends outside the central portion 21, and a motor 23 and a rotary wing 24 are provided at a tip of the arm 22. The motor 23 is connected to the rotary blade 24, and the rotary blade 24 is driven to rotate by the motor 23.
Although FIG. 1 illustrates an example in which the number of the arms 22 is four and the motors 23 and the rotary wings 24 are provided above and below each arm 22, the invention is not limited to this. Absent. The details of the parts such as the number and arrangement of the arm 22, the motor 23, and the rotor 24 can be appropriately selected according to the size and flight capability of the unmanned aerial vehicle required for maintenance and inspection.

  The wheels 3 are arranged on both sides of the unmanned aircraft main body 2 via an axle 31 arranged on the upper part of the unmanned aircraft main body 2. At this time, the wheel 3 is arranged so as not to contact the rotor 24 of the unmanned aerial vehicle body 2. The wheel 3 moves along the guide 102. Therefore, it is preferable that the wheel 3 is designed to have such a width that it does not fall off the guide 102. The wheels 3 may rotate with respect to the axle 31, or the wheels 3 and the axle 31 may be fixed and the axle 31 may rotate.

  As shown in FIG. 3, when the wheel 3 contacts the wall surface 101, the movement of the wheel 3 in the left-right direction of the wall surface 101 is restricted by the guide 102. Thereby, the movement of the unmanned aerial vehicle body 2 in the left-right direction (aileron) is also restricted, and the movement of the unmanned aerial vehicle body 2 in the rotational direction (ladder) is also limited, and the posture of the unmanned aerial vehicle body 2 is stabilized. It is possible to do. Further, even when the unmanned aerial vehicle 1a is placed on the ground before the flight, it is possible to take a stable posture.

  The wheel 3 is provided so that a certain distance is generated between the unmanned aerial vehicle main body 2 and the wall surface 101 when the wheel 3 comes into contact with the wall surface 101. As a specific example, as shown in FIG. 3, an axle 31 is provided in the upper center of the unmanned aerial vehicle body 2, and the diameter of the wheel 3 is larger than that of the unmanned aerial vehicle body 2.

  The structure and arrangement of the wheel 3 in the present embodiment may be any as long as the wheel 3 has an action of generating a certain distance between the unmanned aerial vehicle main body 2 and the wall surface 101 when the wheel 3 contacts the wall surface 101. However, the present invention is not limited to the embodiments illustrated in FIGS.

FIG. 4 is a schematic explanatory view (side view) showing another aspect of the unmanned aerial vehicle in the present embodiment.
As shown in FIG. 4A, the wheels 3 may be arranged on an axle 31 provided at the upper end of the unmanned aerial vehicle body 2. At this time, the diameter of the wheel 3 can be smaller than that of the unmanned aerial vehicle body 2. In order to keep a constant distance between the unmanned aerial vehicle main body 2 and the wall surface 101 when the wheel 3 contacts the wall surface 101, the radius of the wheel 3 should be larger than the end of the rotor 24. Good. This makes it possible to reduce the size of the entire unmanned aerial vehicle 1a.

Further, as shown in FIG. 4B, an axle 31 may be provided from the center of the side surface of the unmanned aerial vehicle body 2 so that one wheel 3 is in contact with the wall surface 101 of the structure 100. Thereby, the number of parts can be reduced.
In the embodiment illustrated in FIG. 4, the arrangement of the maintenance and inspection work unit 5 and the arrangement of the battery and the like in the central part 21 may be designed so that the center of gravity of the entire unmanned aerial vehicle 1a can be balanced. (Not shown) may be provided.

The material of the wheel 3 and the axle 31 is not particularly limited as long as it has a strength enough to withstand a plurality of uses, and is not particularly limited to metal and nonmetal (resin, wood, etc.). For example, by using a lightweight and high-strength material, the influence on the flight performance of the unmanned aerial vehicle body 2 can be reduced. Further, in consideration of the installation environment of the structure 100 to be subjected to maintenance and inspection, it is particularly preferable to use a structure having heat resistance and chemical resistance. An example of such a material is carbon fiber.
Further, it is preferable that the cushioning member 32 is attached to the circumferential surface of the wheel 3. This makes it possible to suppress damage to the wall surface 101 due to contact between the wheel 3 and the wall surface 101. In addition, specific examples of the buffer member 32 include rubber and sponge, but are not limited thereto.

  The contact mechanism 4 is for bringing the wheel 3 into close contact with the wall surface 101. As shown in FIG. 1, as the close contact mechanism 4, a propeller 41 is provided on the upper part of the unmanned aerial vehicle main body 2 by using a pressing force due to air blowing. The propeller 41 generates a pressing force in the direction of the wall surface 101 by blowing air in a direction perpendicular to the wall surface 101, and has a function of bringing the wheel 3 into close contact with the wall surface 101. The drive mechanism of the propeller 41 may be interlocked with the motor 23 and the rotary wings 24 of the unmanned aerial vehicle body 2 or may be independent.

The close contact mechanism 4 using the pressing force of the blowing has an advantage that the material of the wall surface 101 to which the close contact can be made does not matter. For example, it can be adsorbed on a wall or the like made of a nonmagnetic material such as soil or cement.
Further, in the contact mechanism 4 using the pressing force by the air blowing, since the contact force does not decrease due to the surface state of the wall surface 101, the risk of falling is small.

The contact mechanism 4 of the present invention may be any means as long as it has an action of bringing the wheel 3 into close contact with the wall surface 101, and is not limited to the embodiment illustrated in FIG.
For example, when the wall surface 101 is magnetic, such as a metal, the contact mechanism 4 may be provided with a magnetic body that uses an attractive force on the wall surface 101.
In the contact mechanism using magnetic force, the contact mechanism can be configured by a simple structure without mounting a blower such as a propeller. Further, since the weight of the unmanned aerial vehicle 1a can be reduced, the power consumption when the unmanned aerial vehicle 1a climbs the wall surface 101 or the like can be reduced, and the risk of falling can be reduced. In addition, there is an advantage that work such as inspection and cleaning is not hindered because dust and the like are not sowed up unlike a close contact mechanism using a pressing force by air blowing.

  By operating the close contact mechanism 4, movement of the unmanned aerial vehicle 1 a in the forward and backward direction (elevator) is restricted by a pushing force or an attractive force acting on the wall surface 101 in a vertical direction. Can be reduced in the number of axes required for

  In addition, since the wheel 3 does not separate from the wall surface 101 by providing the contact mechanism 4, the unmanned aerial vehicle body 2 can always maintain a distance suitable for maintenance and inspection with respect to the wall surface 101. Thereby, the stability and accuracy of the maintenance and inspection on the wall surface 101 can be improved.

The maintenance and inspection work unit 5 is a device that performs operations such as inspection, cleaning, and repair, and is installed above the unmanned aircraft body 2. At this time, during the maintenance and inspection work, the work surface of the maintenance and inspection work part 5 is installed so as to face the wall surface 101.
The maintenance and inspection work unit 5 may be configured to perform only a power ON / OFF operation before and after the work, and may be configured to include various control devices for performing operations by remote operation, external transmission of acquired information, and the like. You may. Further, a device for cooperatively controlling the maintenance / inspection work unit 5 and the transmitting / receiving unit in the central portion 21 of the unmanned aerial vehicle body 2 may be provided. The transmission and reception of information in the control device may be either wired or wireless.

  The inspection device is a device for acquiring information indicating a state of a work place such as the wall surface 101 and the like, and is not particularly limited. For example, a thinning measurement device using an ultrasonic wave or corrosion inside a water pipe is checked. X-ray inspection apparatus, a camera for checking the condition of the surface of a work place, and the like.

  The cleaning device is a device for cleaning a work place, and is not particularly limited, and includes a high-hydraulic pressure jet cleaning device, a brush cleaning device provided with a cleaning tool such as a rotating brush, and a high-pressure air jet device such as an air gun. No.

  A repair device is a device for automatically repairing cracks at work locations, and is not particularly limited, but is a device for joining cracks such as a welding device or a device for filling a filler such as a caulking gun with cracks. And a device for resqueezing loosened screws such as a drill driver.

Other working devices include a coating device for coating the surface, a processing device for performing a drilling process like a drill, and the like.
The type and number of the maintenance and inspection work units are not particularly limited, and a plurality of devices of the same type or different types may be installed.

Next, with reference to FIG. 5, a description will be given of maintenance and inspection of a structure using an unmanned aerial vehicle according to the first embodiment of the present invention. FIG. 5A shows the state at the start of maintenance and inspection. FIG. 5B shows a state in which the maintenance inspection surface is changed during the maintenance and inspection work. A description will be given of a structure 100 in which the reactor 110 is targeted for maintenance and inspection.
The unmanned aerial vehicle 1a shown in FIG. 5 has an axle 31 at the upper center of the unmanned aerial vehicle body 2 and wheels 3 on both sides of the axle 31. Further, a propeller 41 is provided as an adhesion mechanism 4 on the upper part of the unmanned aerial vehicle main body 2, and the wheel 3 is in close contact with the wall surface 111 of the reactor 110 by a pushing force caused by blowing air.
A plurality of water pipes 112 are vertically arranged on the wall surface 111 of the reactor 110 to be subjected to maintenance and inspection, and have irregularities. At this time, the walls (fins) 113 between the water pipes 112 serve as the guides 102, and the unmanned aerial vehicle 1a is designed and arranged so that the wheels 3 are along these fins 113.

  First, as shown in FIG. 5A, in the unmanned aerial vehicle 1a, the wheels 3 are in contact with the ground and the fins 113. At this time, the interval between the wheels 3 matches the interval between the fins 113. Next, the rotating blades 24 of the unmanned aerial vehicle body 2 and the propeller 41 of the contact mechanism 4 are operated, and the unmanned aerial vehicle 1a is lifted while the wheels 3 are in close contact with the fins 113. At this time, the on / off operation or drive control of the maintenance and inspection work unit 5 is performed as necessary. Then, as shown in FIG. 5B, the unmanned aerial vehicle 1a, which has been raised to a predetermined position, is lowered, and then the unmanned aerial vehicle 1a is moved to the next place to continue the maintenance and inspection work. The means for moving the unmanned aerial vehicle 1a includes, in addition to moving the unmanned aerial vehicle 1a by manual operation or automatic operation by a controller, a worker directly carrying the unmanned aerial vehicle 1a.

  As shown in FIG. 5, in the unmanned aerial vehicle 1 a, the wheels 3 move along the fins 113 (guides 102) during maintenance and inspection, so that the unmanned aerial vehicle 1 a rotates in the rotation direction (ladder) and left and right directions (aileron) of the unmanned aerial vehicle body 2. On the other hand, the movement is restricted. Further, the movement of the unmanned aircraft main body 2 is restricted in the forward and backward directions (elevator) by the action of the contact mechanism 4. Therefore, the axis required for controlling the unmanned aerial vehicle 1a is only the vertical direction (throttle). As a result, the operation of the unmanned aerial vehicle 1a, which normally requires control in four axis directions, is facilitated, and the burden on the operator and the cost for maintenance and inspection can be reduced.

  Note that a controller for controlling the unmanned aerial vehicle body 2 from the outside can use a conventional four-axis controller. At the time of maintenance and inspection work, only the vertical direction (throttle) is operated. For example, in the case of horizontal movement when changing the maintenance and inspection work surface, control relating to other direction axes is performed. Is also good.

  As described above, the unmanned aerial vehicle and the method for maintaining and inspecting a structure using the unmanned aerial vehicle according to the present embodiment provide a certain limit in the direction in which the unmanned aerial vehicle body moves, and the number of axes required for the operation of the unmanned aerial vehicle body , The burden on the workers during maintenance and inspection can be reduced. According to this unmanned aerial vehicle, the unmanned aerial vehicle itself with the wheels attached thereto keeps a certain distance from the wall of the structure by providing a contact mechanism for allowing the wheels to adhere to the wall of the structure. State. Therefore, it is possible to suppress the influence of the wind generated by the unmanned aerial vehicle itself during maintenance and inspection, and to improve the stability and accuracy of maintenance and inspection.

[Second embodiment]
FIG. 6 is a schematic explanatory view showing an unmanned aerial vehicle according to the second embodiment of the present invention.
As shown in FIG. 6, the unmanned aerial vehicle 1b according to the present embodiment includes a controller 6 that moves the unmanned aerial vehicle body 2 by only one axis. The controller 6 only needs to control the ascent and descent of the unmanned aerial vehicle main body 2, and more preferably has a function of controlling air suspension (hovering). Note that among the unmanned aerial vehicles 1b in the present embodiment, the description of the same structure as the unmanned aerial vehicle 1a in the first embodiment will be omitted.

  The unmanned aerial vehicle 1b according to the present embodiment includes an unmanned aerial vehicle body 2 and wheels 3 as shown in FIG. As in the first embodiment, by providing the wheels 3 for the unmanned aircraft main body 2, the controller 6 that controls the unmanned aircraft main body 2 can be operated with only one axis in the vertical direction (throttle). As a result, it is possible to reduce the burden on the operator related to the operation of the unmanned aerial vehicle 1b. It should be noted that in order to more reliably restrict the movement of the operation axis other than the vertical direction (throttle), the unmanned aerial vehicle 1b may be provided with the adhesion mechanism 4 of the unmanned aerial vehicle 1a in the first embodiment. More preferred.

  The maintenance and inspection method using the unmanned aerial vehicle 1b in this embodiment is performed by moving the wheels 3 along the guide 102 on the wall surface 101 to be subjected to maintenance and inspection, as in the maintenance and inspection method in the first embodiment. Since the unmanned aerial vehicle 1b moves only in one axis direction, there is no need for the operator to learn the operation skills. Therefore, it is possible to reduce the time and cost for the maintenance and inspection work.

  According to the unmanned aerial vehicle of the second embodiment, the controller that controls the unmanned aerial vehicle body has one axis, thereby facilitating the control of the unmanned aerial vehicle and operating other operation axes. It is possible to reduce operation errors of the user. This makes it possible to improve work efficiency during maintenance and inspection.

[Third embodiment]
FIG. 7 is a schematic explanatory view showing an unmanned aerial vehicle according to a third embodiment of the present invention.
The unmanned aerial vehicle 1c according to the present embodiment allows the position of the wheels 3 to be changed with respect to the axle 31 provided on the unmanned aerial vehicle body 2 in the unmanned aerial vehicle 1a according to the first embodiment. Note that, among the unmanned aerial vehicles 1c in the present embodiment, the description of the same structure as the unmanned aerial vehicle 1a in the first embodiment will be omitted.

  The unmanned aerial vehicle 1c in this embodiment has a locking means 33 for locking the wheels 3 with respect to the axle 31, and changes the interval between the wheels 3 according to the width of the guide 102 of the structure 100. Thereby, it can be applied to the structures 100 having different widths of the guide 102. The locking means 33 is not particularly limited as long as the wheel 3 can be fixed to the axle 31. For example, a bolt is used.

  Further, in order to cope with the case where the width of the guide 102 is not constant, the wheel 3 may not be completely fixed to the axle 31, but may be provided with a space for the wheel 3 to move on the axle 31. For example, as shown in FIG. 7, a stopper 33 a is provided on the axle 31 so as to sandwich the wheel 3 as the locking means 33, the interval between the stoppers 33 a is wider than the width of the wheel 3, and a room for the wheel 3 to move is provided. It may be a thing. It is preferable to provide a stopper also at the end of the axle 31 so that the wheel 3 does not fall off the axle 31.

  According to the unmanned aerial vehicle of the third embodiment, it is possible to perform maintenance and inspection work on various structures having different guide widths by making the distance between the wheels changeable.

[Fourth embodiment]
FIG. 8 is a schematic explanatory view showing an unmanned aerial vehicle according to a fourth embodiment of the present invention.
The unmanned aerial vehicle 1d according to the present embodiment enables the distance between the wheels 3 to be changed by changing the length of the axle 31 provided on the unmanned aerial vehicle body 2 in the unmanned aerial vehicle 1a according to the first embodiment. . Note that among the unmanned aerial vehicles 1d according to the present embodiment, the description of the same structure as the unmanned aerial vehicle 1a according to the first embodiment will be omitted.

The unmanned aerial vehicle 1d in the present embodiment changes the distance between the wheels 3 by making the axle 31 to which the wheels 3 are attached replaceable and using the axle 31 having a length corresponding to the width of the guide 102 of the structure 100. Thereby, it can be applied to the structures 100 having different widths of the guide 102.
Further, in order to cope with a case where the width of the guide 102 is not constant, the axle 31 itself may be configured to be able to expand and contract.

  According to the unmanned aerial vehicle of the fourth embodiment, the maintenance and inspection work can be performed on various structures having different guide widths by changing the distance between the wheels by making the length of the axle changeable. It becomes possible.

  The above-described embodiment shows an example of an unmanned aerial vehicle and a method for maintaining and inspecting a structure using the unmanned aerial vehicle. The unmanned aerial vehicle and the method for maintaining and inspecting a structure using the unmanned aerial vehicle according to the present invention are not limited to the above-described embodiment, and the unmanned aerial vehicle according to the above-described embodiment may be used without changing the gist described in the claims. The maintenance and inspection method of a structure using an aircraft and an unmanned aerial vehicle may be changed.

  For example, the wheels in the unmanned aerial vehicle of the present invention may be removable from the axle, and the wheels themselves may be disassembled and assembled. This makes it easier to transport the unmanned aerial vehicle, and also enables the on-site response when bringing the unmanned aerial vehicle into a structure that is the subject of maintenance and inspection even if the entrance of the structure is narrow.

  Also, for example, the structure to which the unmanned aerial vehicle and the method for maintaining and inspecting a structure using the unmanned aerial vehicle of the present invention are not limited to a structure in a closed space. Other aspects include application to a building window and application to a cleaning operation as a maintenance inspection operation, application to a huge gas tank, application to an inspection operation as a maintenance inspection operation, and the like. Not only for maintenance work at high altitudes, but also for maintenance work where unmanned aerial vehicles are moved from the ground to the underground for structures with vertical holes extending underground such as manholes. Is also good.

  The unmanned aerial vehicle and the method for maintaining and inspecting a structure using the unmanned aerial vehicle of the present invention are used for maintenance and inspection (inspection, cleaning, repair, etc.) of the structure. In particular, the present invention is suitably used for maintenance and inspection of a structure that requires a worker to separately provide a work space and maintenance and inspection of a structure in a closed space. Specifically, for example, it can be suitably used for maintenance and inspection work inside a structure such as a reactor and a storage tank, cleaning of windows of a building, and maintenance and inspection work outside the structure such as wall cleaning. .

1a, 1b, 1c, 1d: Unmanned aerial vehicle, 2: Unmanned aerial vehicle body, 21: Central part, 22: Arm, 23: Motor, 24: Rotating wing, 3: Wheel, 31: Axle, 32: Buffer member, 33: Locking means, 33a stopper, 4 contact mechanism, 41 propeller, 5 maintenance and inspection work section, 6 controller, 100 structure, 101 wall surface, 102 guide, 110 reactor, 111 wall surface, 112 ... water pipe, 113 ... fin

Claims (5)

An unmanned aerial vehicle that performs a maintenance check on a structure,
Unmanned aircraft body,
Wheels attached to the unmanned aerial vehicle body,
An adhesion mechanism for the wheel to adhere to the wall of the structure,
The unmanned aerial vehicle, wherein the wheel moves along a guide on a structure side. An unmanned aerial vehicle that performs a maintenance check on a structure,
Unmanned aircraft body,
Wheels attached to the unmanned aerial vehicle body,
A controller that moves the unmanned aerial vehicle body only by one axis,
The unmanned aerial vehicle, wherein the wheel moves along a guide on a structure side.   The unmanned aerial vehicle according to claim 1, wherein at least one wheel is mounted on each side of the unmanned aerial vehicle main body, and an interval between the wheels is changeable. A maintenance inspection method for a structure using an unmanned aerial vehicle,
The unmanned aerial vehicle includes an unmanned aerial vehicle main body, wheels attached to the unmanned aerial vehicle main body, and a contact mechanism for allowing the wheels to adhere to a wall surface of a structure,
A structure maintenance and inspection method, wherein the wheel is moved along a guide on the structure side in a state where the wheel is in close contact with a wall surface of the structure. A maintenance inspection method for a structure using an unmanned aerial vehicle,
The unmanned aerial vehicle includes an unmanned aerial vehicle body, wheels attached to the unmanned aerial vehicle body, and a one-axis controller for the unmanned aerial vehicle body,
A maintenance inspection method for a structure, wherein the wheel is moved along a guide on a structure side, and the unmanned aircraft body is moved in only one axis direction with respect to the structure by the one-axis controller.

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