JP2020196437A - Subject surface treating device, treating method and unmanned flight body - Google Patents

Abstract

To provide a subject surface treating device, a treating method and an unmanned flight body which enables a worker to easily remove an object to be cleaned such as spider's web without assembling scaffold and to provide a subject surface treating device, treating method and an unmanned flight body capable of maintenance of subject to be repaired.SOLUTION: A subject surface treating device 10 includes an unmanned flight unit 11 which is flyable by a remote operation or an automatic steering and a cleaning unit 30b which is followable to a cleaning surface 11. The cleaning unit 30b includes removing material 53 for removing objects 5 to be cleaned attached to a cleaning surface 11 and is constituted so as to move the unmanned flight unit 11 while making the removing material 53 follow along the cleaning surface 11 by remote control or automatic steering upon flight of the unmanned flight unit 11. Thereby, the objects 5 such as spider's web are removed by the removing material 53.SELECTED DRAWING: Figure 11

Description

The present invention relates to an object surface treatment device, a treatment method, and an unmanned aerial vehicle.

Conventionally, for inspection and repair of ceilings and walls of various structures (gymnasiums, dome, buildings, bridges, tunnels, etc.), scaffolding is assembled around the structure to be repaired (hereinafter, also referred to as the repaired object). The worker was climbing directly to the scaffold.

In recent years, an unmanned aerial vehicle (corresponding to an unmanned aerial vehicle) called a drone, which can fly freely in the air by remote control by radio of a worker on the ground, has come to be known. Further, a small camera is mounted on the unmanned aerial vehicle, and the drone is remotely controlled from the ground to perform aerial photography (for example, Patent Document 1).

JP-A-2017-62529

By the way, in the conventional inspection and repair of ceilings and walls, there is a problem that it takes a considerable amount of time for inspection and repair because it is necessary to assemble a scaffold around the object to be repaired. Therefore, an unmanned aerial vehicle equipped with a camera as in Patent Document 1 is used to inspect the object to be repaired from the air.

However, the unmanned aerial vehicle of Patent Document 1 has a problem that although it is possible to inspect the object to be repaired, it cannot be repaired. Therefore, it was necessary to assemble the scaffolding when repairing the object to be repaired.

In addition, when a spider web, dust, or other object to be cleaned adheres to the object surface such as the ceiling or wall surface and becomes dirty, it is necessary to clean the object to be cleaned. In such a case as well, as in the case of the above-mentioned inspection and repair, it is necessary to assemble a scaffold around the surface to be cleaned to which the object to be cleaned is attached, which causes a problem that a considerable amount of time is required for cleaning.

Therefore, in order to solve the above-mentioned problems, it is an object of the present invention to provide an object surface treatment device, a treatment method, and an unmanned aerial vehicle in which an operator can easily remove an object to be cleaned without assembling a scaffold. And. Another object of the present invention is to provide an object surface treatment device, a treatment method, and an unmanned aerial vehicle capable of repairing an object to be repaired.

(1) The object surface treatment device of the present invention provided to solve the above-mentioned problems is supported by an unmanned flight unit capable of flying by remote control or autopilot and the body of the unmanned flight unit, and is supported by the object surface. The follow-up unit includes a processing unit that processes the target surface, and the processing unit is subjected to the processing unit by remote control or autopilot during flight of the unmanned flight unit. It is characterized in that the unmanned aerial vehicle unit is moved while following along the above.

According to the object surface processing device of the present invention, the object surface can be processed by the processing unit by making the tracking unit follow the object surface by the unmanned flight unit. Therefore, it is possible to process the target surface without forming a scaffold around the target surface. Further, since the worker can perform the processing without directly performing the processing work on the target surface, the burden on the worker can be reduced. The unmanned flight unit may be operated remotely by an operator from another location such as the ground, or a flight pattern may be programmed in advance according to the target surface and automatically operated according to the flight pattern. There may be. Further, when the object surface is difficult to see from the operator when performing remote control, a camera may be separately mounted on the unmanned flight unit so that the operator can confirm the processing target portion by the image of the camera. Further, the tracking unit may be mounted on the airframe of the unmanned aerial vehicle unit via an arm, or may be mounted directly on the airframe.

(2) In the object surface treatment device of the present invention, the object surface is a cleaning surface to which an object to be cleaned is attached, the follow-up unit is a cleaning unit, and the processing unit uses the object to be cleaned. It is characterized in that it has a removing material to be removed, and the object to be cleaned can be removed from the cleaning surface by moving the unmanned flight unit while bringing the removing material into contact with the object to be cleaned. good.

With such a configuration, the removing material can be made to follow the cleaning surface to which the object to be cleaned is attached. As a result, the object to be cleaned can be removed from the cleaning surface.

(3) In the object surface treatment device of the present invention, the object surface is a cleaning surface to which an object to be cleaned is attached, the follow-up unit is a cleaning unit, and the processing unit is the object to be cleaned. By having a restraining material supply unit capable of supplying a restraining material that suppresses adhesion and moving the unmanned flight unit while making the restraining material supply portion follow the cleaning surface, the restraining material is transferred to the cleaning surface. It is good that it can be attached to or applied to.

With such a configuration, for example, the restraining material supply unit can follow the cleaning surface from which the object to be cleaned has been removed. As a result, it is possible to suppress the adhesion of the object to be cleaned to the cleaning surface.

Further, in the case of the above-mentioned configurations (2) and (3), it is preferable that the object surface treatment device is provided with a plurality of treatment units. For example, it is possible that both the removing material and the suppressing material supply unit are provided as the processing unit. With such a configuration, after removing the object to be cleaned with the removing material, the inhibitor can be attached or applied to the cleaning surface from which the object to be cleaned has been removed. As a result, it is possible to prevent the object to be cleaned from reattaching to the cleaning surface. It should be noted that a plurality of removing materials may be provided, or a plurality of suppressing material supply units may be provided, and these may be appropriately combined.

Further, according to the above configurations (2) and (3), work such as removing the object to be cleaned and attaching or applying a restraining material to the cleaning surface without forming a scaffold around the object to be repaired. Becomes possible. Further, since the operator can directly remove the object to be cleaned and apply the inhibitor without directly removing the object to be cleaned or applying the inhibitor, the burden on the operator can be reduced. The unmanned flight unit is one that the operator remotely controls from another place such as the ground, or a flight pattern that is programmed according to the object to be cleaned in advance and automatically operated according to the flight pattern. There may be. If the cleaning location is difficult for the operator to see when performing remote control, a separate camera may be mounted on the unmanned flight unit so that the operator can confirm the cleaning location from the image of the camera.

(4) In the object surface treatment apparatus of the present invention provided to solve the above-mentioned problems, the removing material is composed of a mop, a brush, or a roller, and the restraining material supply unit is a brush, a brush, or the like. It is characterized by being composed of any of the nozzles.

According to the above-described configuration, various forms of objects to be cleaned can be removed by using any of a mop, a brush, and a roller as the removing material. Further, according to the above-described configuration, a brush, a brush, and a nozzle can be adopted for the restraining material supply unit to attach or apply the restraining material to various forms of the cleaning surface.

(5) The object surface treatment apparatus of the present invention provided to solve the above-mentioned problems is characterized in that the object to be cleaned is a spider web.

According to such a configuration, it is possible to easily remove the spider web that easily adheres to the cleaning surface and is difficult to remove.

(6) The object surface treatment apparatus of the present invention provided to solve the above-mentioned problems is characterized in that the inhibitor is a spider repellent.

According to this configuration, the approach of the spider to the cleaning surface can be suppressed, so that the spider web can be suppressed from growing.

(7) In the object surface treatment apparatus of the present invention provided to solve the above-mentioned problems, the object surface is the repair surface of the object to be repaired, the follow-up unit is the repair unit, and the processing is performed. The unit has a repair material supply unit to which the repair material is applied or adhered, and the repair material supply unit applies or adheres the repair material to the repair surface by remote control or autopilot during flight of the unmanned flight unit. It is characterized by having made it.

According to the object surface treatment device of the present invention, the repair material can be applied or adhered to the repair surface of the object to be repaired by the unmanned flight unit, and the object to be repaired can be repaired without forming a scaffold around the object to be repaired. It becomes possible to repair things. Further, since the worker can perform the repair without directly repairing the object to be repaired, the burden on the worker can be reduced. The unmanned flight unit may be operated remotely by an operator from another location such as the ground, or a flight pattern may be programmed in advance according to the material to be repaired and automatically operated according to the flight pattern. There may be. If the repaired part is difficult to see from the operator when performing remote control, a camera may be separately mounted on the unmanned flight unit so that the operator can confirm the repaired part by the image of the camera. Further, the repair unit may be mounted on the airframe of the unmanned aerial vehicle unit via an arm, or may be mounted directly on the airframe.

(8) In the object surface treatment apparatus of the present invention provided to solve the above-mentioned problems, the repair material supply unit applies or adheres the repair material to the repair surface while pressing the repair material. It is a feature.

According to such a configuration, since the repair material is pressed against the repair surface, the repair material is surely applied or adhered to the repair surface. For example, when an adhesive sheet-like material is used as the repair material, the repair material can be reliably adhered to the repair surface.

(9) In the object surface treatment apparatus of the present invention provided to solve the above-mentioned problems, the repair material supply unit uses either a roller or a brush impregnated with the repair material or a nozzle for ejecting the repair material. It is characterized by becoming.

According to such a configuration, the repair material is surely applied or adhered to the repair surface. In addition, the repair material can be applied or adhered to a wide range. Therefore, when the repair range is wide, the repair material can be preferably applied or adhered.

(10) In the object surface treatment apparatus of the present invention provided to solve the above-mentioned problems, the repair unit is swingably supported by the airframe, and the repair material supply unit follows the repair surface. It is characterized in that it can be configured.

According to such a configuration, when the repair surface of the material to be repaired having a curved surface is repaired, the repair material can be suitably applied or adhered. As a result, for example, the ceiling of the dome, the tent, and the like can be repaired with high accuracy.

(11) In the object surface treatment device of the present invention provided to solve the above-mentioned problems, the repair material is provided at a position where the repair unit is outside the region where the airflow accompanying the flight of the unmanned flight unit is expected. It is characterized in that it can be applied or adhered.

According to such a configuration, since the repair unit does not disturb the air flow accompanying the flight of the unmanned flight unit, the flight of the unmanned flight unit is stable, and it is possible to apply or adhere the repair material with high accuracy.

(12) In the object surface treatment device of the present invention provided to solve the above-mentioned problems, the repair unit is located at a position where the repair unit does not interfere with the ground when the unmanned flight unit takes off or lands. It is a feature.

According to such a configuration, when the unmanned flight unit takes off or lands, the repair unit does not interfere with the ground, so that the unmanned flight unit can take off and land without disturbing the attitude, and damage to the repair unit can be prevented.

(13) In the processing method of the present invention provided to solve the above-mentioned problems, a follow-up unit that processes an object surface is supported on the body of an unmanned flight unit capable of flying by remote control or autopilot, and the above-mentioned It is characterized in that the following unit processes the target surface while flying the unmanned flight unit by remote control or autopilot.

According to the processing method of the present invention, it is possible to process the target surface by the unmanned flight unit, and it is possible to process the target surface without forming a scaffold around the target surface. Further, since the operator can process the surface to be cleaned by the following unit of the unmanned flight unit without directly processing the surface to be cleaned, the burden on the worker can be reduced. The unmanned flight unit may be a unit that the operator remotely controls from another place, or a unit in which a flight pattern is programmed in advance according to the target surface and automatically operated according to the flight pattern. good. Further, when the processing target portion of the target surface is difficult to see from the operator when performing remote control, a camera may be separately mounted on the unmanned flight unit.

(14) In the processing method of the present invention provided to solve the above-mentioned problems, the following unit is a cleaning unit that removes the object to be cleaned from the cleaning surface to which the object to be cleaned is attached. It is characterized in that the object to be cleaned is removed from the cleaning surface.

According to the processing method of the present invention, it is possible to remove the object to be cleaned from the cleaning surface to which the object to be cleaned is attached by the unmanned flight unit. As a result, for example, dust and other objects to be cleaned adhering to the eaves of the building can be removed without scaffolding. Further, since the worker can remove the object to be cleaned without directly removing the object to be cleaned, the burden on the worker can be reduced. The unmanned flight unit may be one that the operator remotely controls from another place, or one in which the flight pattern is programmed in advance according to the object to be cleaned and automatically operated according to the flight pattern. good. Further, if the object to be cleaned is difficult to see from the operator during remote control, a camera may be separately mounted on the unmanned flight unit.

(15) In the treatment method of the present invention provided to solve the above-mentioned problems, the follow-up unit is a repair unit that applies a repair material to the repair surface of the object to be repaired, and the treatment is performed on the repair surface. It is characterized in that a repair material is applied.

According to the processing method of the present invention, the repair material can be applied or adhered to the repair surface of the object to be repaired by the unmanned flight unit, and the object to be repaired can be repaired without forming a scaffold around the object to be repaired. It becomes possible to do. Further, since the worker can perform the repair without directly repairing the object to be repaired, the burden on the worker can be reduced. The unmanned flight unit may be a unit that the operator remotely controls from another location, or a flight pattern that is programmed in advance according to the material to be repaired and automatically operated according to the flight pattern. good. Further, if the repaired part is difficult to see from the operator when performing remote control, a camera may be separately mounted on the unmanned flight unit.

(16) The unmanned air vehicle of the present invention provided to solve the above-mentioned problems is remotely operated or equipped with a propeller section including at least one propeller that generates buoyancy and an aircraft that supports the propeller section. An unmanned aircraft capable of flying by autopilot, the aircraft includes an arm whose one end is supported by the aircraft and a follow-up unit provided at the other end of the arm, and the follow-up unit is a target. It has a processing unit that follows a surface, and is characterized in that the processing unit processes the target surface by remote operation or autopilot during flight.

According to the unmanned aerial vehicle of the present invention, it is possible to process the target surface by making the processing unit follow the target surface, and the target surface can be processed without forming a scaffold around the target surface. It becomes possible to process. Further, since the worker can process the target surface without directly processing the target surface, the burden on the worker can be reduced. The unmanned aerial vehicle may be operated remotely by an operator from another location, or a flight pattern may be programmed in advance according to the material to be repaired and automatically operated according to the flight pattern. good. In addition, if it is difficult for the operator to see the processing target part of the target surface when performing remote control, a separate camera is mounted on the unmanned aerial vehicle so that the operator can check the processing target part from the image of the camera. Is also good.

(17) In the unmanned air vehicle of the present invention provided to solve the above-mentioned problems, the following unit is a cleaning unit, the aircraft has at least one pair of the arms, and the cleaning unit has at least one set. , On the other end side of each arm, the cleaning unit is bridged between the respective arms, and the cleaning unit follows the cleaning surface of the object to be cleaned, so that the removing material or the object to be cleaned comes into contact with the cleaning surface. It has one or both of the restraining material supply parts capable of supplying the restraining material, and removes the object to be cleaned from the cleaning surface with the removing material or the restraining material by remote operation or automatic control during flight. Is adhered to or applied to the cleaning surface.

According to the unmanned aerial vehicle of the present invention, it is possible to make the removing material or suppressing material supply unit follow the cleaning surface of the object to be cleaned. As a result, it is possible to remove the object to be cleaned from the cleaning surface and prevent the object to be cleaned from adhering to the cleaning surface.

Further, according to the above-described configuration, it is possible to remove the object to be cleaned and to attach or apply the inhibitor to the surface to be cleaned without forming a scaffold around the object to be repaired. Further, since the operator can directly remove the object to be cleaned and apply the inhibitor without directly removing the object to be cleaned or applying the inhibitor, the burden on the operator can be reduced. The unmanned flight unit is one that the operator remotely controls from another place such as the ground, or a flight pattern that is programmed according to the object to be cleaned in advance and automatically operated according to the flight pattern. There may be. If the cleaning location is difficult for the operator to see when performing remote control, a separate camera may be mounted on the unmanned flight unit so that the operator can confirm the cleaning location from the image of the camera. Further, the cleaning unit may be mounted on the airframe of the unmanned aerial vehicle unit via an arm, or may be mounted directly on the airframe.

(18) In the unmanned aerial vehicle of the present invention provided to solve the above-mentioned problems, the airframe has a towing rope capable of hanging from the airframe, and the airframe approaches the target surface. By doing so, a negative pressure is generated between the target surface and the airframe, and in the state where the negative pressure is generated, the airframe is moved by remote control or autopilot while pulling the towing rope downward. It is characterized in that the processing unit is moved so as to face a predetermined position of the target surface.

According to such a configuration, when an unmanned aerial vehicle approaches the target surface from below, the aircraft attracted to the target surface by negative pressure is pulled downward by a towing rope and remotely controlled or autopiloted. As a result, the processing unit can be moved toward a predetermined position on the target surface. Therefore, it is possible to easily make fine adjustments when positioning the processing unit at a predetermined position on the object surface. Further, by weakening the downward force on the towing rope, the processed portion can be brought into contact with the object surface. Thereby, the processing of the object surface can be easily performed.

(19) In the unmanned aerial vehicle of the present invention provided to solve the above-mentioned problems, the following unit is a repair unit provided on the other end side of the arm, and the repair unit is an object to be repaired. It has a repair material supply unit that applies or adheres repair material by following the repair surface, and the repair material supply unit applies or adheres to the repair material by remote control or autopilot during flight. It is characterized by what has been done.

According to the unmanned aerial vehicle of the present invention, the repair material can be applied or adhered to the repair surface of the object to be repaired, and the object to be repaired can be repaired without forming a scaffold around the object to be repaired. It will be possible. Further, since the worker can perform the repair without directly repairing the object to be repaired, the burden on the worker can be reduced. The unmanned aerial vehicle may be operated remotely by an operator from another location, or a flight pattern may be programmed in advance according to the material to be repaired and automatically operated according to the flight pattern. good. If the repaired part is difficult to see from the operator when performing remote control, a separate camera may be mounted on the unmanned aerial vehicle so that the operator can confirm the repaired part by the image of the camera.

(20) The unmanned aerial vehicle of the present invention provided to solve the above-mentioned problems is characterized in that the repair material supply unit is applied or adhered to the repair surface while pressing the repair material. It is a thing.

It is preferable that the repair material supply unit according to the unmanned aerial vehicle of the present invention is applied or adhered to the repair surface while pressing the repair material. According to such a configuration, since the repair material is pressed against the repair surface, the repair material is surely applied or adhered to the repair surface. For example, when an adhesive sheet-like material is used as the repair material, the repair material can be reliably adhered to the repair surface.

(21) In the unmanned aerial vehicle of the present invention provided to solve the above-mentioned problems, the repair material supply unit comprises either a roller or a brush impregnated with the repair material or a nozzle for ejecting the repair material. It is characterized by.

The repair material supply unit according to the unmanned aerial vehicle of the present invention preferably comprises either a roller or a brush impregnated with the repair material or a nozzle for ejecting the repair material. According to such a configuration, the repair material is surely applied or adhered to the repair surface. In addition, the repair material can be applied or adhered to a wide range. Therefore, when the repair range is wide, the repair material can be preferably applied or adhered.

(22) In the unmanned aerial vehicle of the present invention provided to solve the above-mentioned problems, the repair unit is swingably supported by the airframe, and the repair material supply unit can follow the repair surface. It is characterized by being composed.

It is preferable that the repair unit according to the unmanned aerial vehicle of the present invention is swingably supported by the airframe, and the repair material supply unit is configured to be able to follow the repair surface. According to such a configuration, when the repair surface of the material to be repaired having a curved surface is repaired, the repair material can be suitably applied or adhered. As a result, for example, the ceiling of the dome, the tent, and the like can be repaired with high accuracy.

(23) In the unmanned aerial vehicle of the present invention provided to solve the above-mentioned problems, the repair unit can apply or adhere the repair material at a position outside the region where the airflow accompanying the flight is expected. It is characterized by being.

It is preferable that the repair unit according to the unmanned aerial vehicle of the present invention can apply or adhere the repair material at a position outside the region where the airflow accompanying the flight of the unmanned aerial vehicle is expected. According to such a configuration, since the repair unit does not disturb the air flow accompanying the flight of the unmanned aerial vehicle, the flight of the unmanned aerial vehicle is stable, and it is possible to apply or adhere the repair material with high accuracy.

(24) The unmanned aerial vehicle of the present invention provided to solve the above-mentioned problems is characterized in that the repair unit is located at a position where it does not interfere with the ground when taking off or landing.

The repair unit according to the unmanned aerial vehicle of the present invention is preferably located at a position where it does not interfere with the ground when taking off or landing. According to such a configuration, when the unmanned aerial vehicle takes off or lands, the repair unit does not interfere with the ground, so that the unmanned aerial vehicle can take off and land without disturbing the attitude, and damage to the repair unit can be prevented.

According to the present invention, even if the object to be repaired cannot be repaired without a scaffold, the cleaning work and the repair work can be performed by remote control or autopilot without preparing a scaffold. Moreover, since the worker does not work directly, the burden on the worker can be reduced.

It is explanatory drawing explaining the repair apparatus (object surface treatment apparatus, an unmanned aerial vehicle) which concerns on one Embodiment of this invention, and the repair (treatment) method of the repair surface by this. It is a top view of the repair device (unmanned aerial vehicle) of FIG. It is a partially cutaway front view of the repair device (unmanned aerial vehicle) according to the modified example of FIG. It is a top view of the repair device (unmanned aerial vehicle) which concerns on one Embodiment of FIG. It is explanatory drawing explaining the repair method of the repair surface by the repair device (unmanned aerial vehicle) of FIG. It is the schematic perspective view explaining the repair method of the repair surface by the repair device (unmanned aerial vehicle) of FIG. It is explanatory drawing explaining the assumed region of the airflow accompanying the flight of the repair device (unmanned aerial vehicle) of this invention. It is a schematic perspective view which concerns on another embodiment of the repair unit (following unit) in the repair device (unmanned aerial vehicle) of this invention. It is a schematic perspective view which concerns on another embodiment of the repair unit (following unit) in the repair device (unmanned aerial vehicle) of this invention. It is a top view of the object surface treatment apparatus (unmanned aerial vehicle) which concerns on one Embodiment of this invention. It is explanatory drawing explaining the method of treating (cleaning) a cleaning surface using the object surface treatment apparatus of FIG. It is explanatory drawing explaining the method of cleaning a cleaning surface and applying a suppressing material using the object surface treatment apparatus which concerns on another Embodiment of this invention. It is a top view which concerns on still another Embodiment of the subject surface treatment apparatus of this invention.

Hereinafter, the object surface treatment device 10 (also referred to as an unmanned aerial vehicle 10) and the treatment method according to the embodiment of the present invention will be described in detail with reference to the drawings.

In the present embodiment, a case where the object surface treatment device 10 is used for repairing the repaired surface will be described below as an example. FIG. 1 is an explanatory diagram illustrating an object surface treatment device 10 (also referred to as a repair device 10 or an unmanned aerial vehicle 10) according to an embodiment of the present invention, and a method for repairing the repair surface by the repair device 10. FIG. 2 is a plan view of the repair device 10 of FIG. FIG. 3 is a partially cutaway front view showing a modified example of the repair device 10 of FIG. 1, and FIG. 4 is a plan view of the repair device 10 of FIG. In the present embodiment, a case where the worker A operates the repair device 10 from the ground 1 by using the controller 41 will be described. Note that FIG. 3 is drawn so that the size balance between the worker A and the repair device 10 is different from the actual size for convenience of explanation.

As shown in the figure, the repair device 10 of the present invention includes an unmanned flight unit 11 capable of flying in the air by remote control or autopilot, a repair unit 30a (also referred to as a follow-up unit 30) for repairing the object to be repaired 2, and a control unit. It is configured to include 40 and the like.

The unmanned flight unit 11 includes an airframe 20, four propeller portions 21 extending outward from the airframe 20, a propeller 22 pivotally supported at one end of each propeller portion 21, and the like.

The airframe 20 is formed in a substantially rectangular shape, and four columns forming the propeller portion 21 are supported in each apical angle direction. The airframe 20 contains various parts (not shown) for operating the unmanned aerial vehicle unit 11. A repair unit 30a, which will be described in detail later, is attached to the machine body 20.

Specifically, the airframe 20 may be provided with a connecting portion for connecting the arm 31 of the repair unit 30a, which will be described in detail later. The repair device 10 may have the arm 31 fixed to the machine body 20 so as not to swing, but may be configured so that the arm 31 can be connected to the body 20 so as to swing. The structure for connecting the arm 31 to the machine body 20 so as to be swingable may be as follows, for example.

Further, when connecting the arm 31 to the machine body 20 so as to be swingable, for example, as a simple method, it is conceivable to provide a mechanism for connecting the arm 31 to the side of the machine body 20 so as to be swingable. However, in order to enable stable flight, for example, as shown in FIG. 4, a notch 20a is provided in a substantially central portion of the side forming the aircraft 20 so that the arm 31 can swing in this portion. It is good to connect. In the example shown in FIG. 4 and the like, the swing shaft 23 arranged in the notch 20a is pivotally supported so as to swing via the bearing 24.

Further, the swing shaft 23 may swing freely with respect to the machine body 20, but may be, for example, one whose operation can be controlled by receiving power from a power source. When the swing shaft 23 can be swinged by using the power of the power source, the swing shaft 23 may be directly driven by a motor or the like, but for example, the following configuration is possible. Is. That is, the driven gear 25 is fitted and fixed on one end side (base end side) of the swing shaft 23, and a power source (motor 26) is provided on the machine body 20 side. Further, the drive gear 27 is fitted and fixed to the shaft of the motor 26, and the drive gear 27 is engaged (engaged) with the driven gear 25. With such a configuration, the swing shaft 23 and the repair unit 30a connected to the swing shaft 23 can be swinged or fixed at a predetermined angle by the drive control of the motor 26.

One end of the propeller portion 21 is supported by the airframe 20, and the propeller 22 is pivotally supported above the other end. The propeller 22 is connected to a drive source (not shown) and rotates based on a control signal from the control unit 40. As a result, buoyancy is generated and the unmanned flight unit 11 can fly. Further, the information operated by the operator A by the controller 41 is transmitted as a control signal to the control unit 40 of the unmanned flight unit 11. The control unit 40 can freely move in each direction and adjust the flight speed by adjusting the rotation speed of each propeller 22 based on the received control signal.

The repair unit 30a includes an arm 31 fixed to the swing shaft 23, a holder 32 supported at the tip of the arm 31, a roller 33 as a material supply unit to be repaired pivotally supported by the holder 32, and the like. Has been done. Further, as will be described in detail later, the repair unit 30a is provided at a position outside the airflow assumption region 12 immediately below the rotation of the propeller 22.

By driving the motor 26, the arm 31 can swing from the descending end to the rising end located above the machine body 20 as the swing shaft 23 rotates. Further, when the arm 31 is located below the machine body 20, the roller 33 (also referred to as the processing unit 33) of the repair unit 30a comes into contact with the repair surface 2a of the object to be repaired 2. At this time, if necessary, the repair surface 2a may be pressed by lowering the unmanned flight unit 11, or the repair surface 2a may be pressed by turning the arm 31. When the roller 33 is brought into contact with the repair surface 2a from below, the roller 33 may be positioned above the machine body 20. As a result, the ceiling and the like can be repaired from the room.

The roller 33 is made of, for example, rubber, resin, a base cloth, a non-woven fabric, a sponge, or the like, and for example, a liquid repair material 34 is impregnated or adhered to the surface. Further, the roller 33 can roll the repair surface 2a of the object to be repaired 2 to apply or adhere the repair material 34 to the damaged portion 3 of the repair surface 2a. As the repair material 34, various materials can be used depending on the material of the object to be repaired 2 and the state of the damaged portion 3, and various adhesives, resins, sealing materials and the like can be used. Further, the repair material 34 may be a solid or a sheet such as a label, in addition to the liquid.

When a solid repair material 34 is used, the roller 33 may be appropriately fixed so that the repair material 34 adheres to the repair surface 2a while rubbing. When a sheet-shaped repair material 34 is used, the adhesive sheet-shaped repair material 34 may be wound around the roller 33 and sequentially fed out. Further, at this time, the repair material 34 may be perforated or provided with a cutting mechanism so that it can be cut to an appropriate size. Further, the repair material 34 may be a label or a seal. In this case, the repair unit 30a may be provided with an appropriate feeding mechanism and attachment mechanism. When the sheet-shaped repair material 34 is used, the repair material 34 may be pressed against the repair surface 2a.

The control unit 40 can perform general control of the repair device 10, such as drive control of the propeller 22 of the unmanned flight unit 11, operation control of the repair unit 30a, and communication control with the controller 41. In the present embodiment, one control unit 40 controls the repair device 10 in general, but the repair device 10 is controlled individually for each function or partially integrated. You may.

The drive control of the propeller 22 in the control unit 40 described above controls the rotation speed of each propeller 22 so that the repair device 10 can be freely moved up and down and moved in the horizontal direction, and the flight speed is adjusted. As a result, the repair device 10 can freely access the repair surface 2a of the object to be repaired 2.

In the operation control of the repair unit 30a in the control unit 40, the swing control of the swing shaft 23 is performed, the roller 33 is brought into contact with the repair surface 2a of the object to be repaired 2, and the repair material 34 is applied to the repair surface 2a. , It is something to attach. Further, the control unit 40 is at a position where the repair unit 30a does not interfere with the ground (for example, a position above the bottom surface of the aircraft 20) so that the repair unit 30a does not collide with the ground when the repair device 10 takes off or lands. Control to be located in.

Further, in the communication control with the controller 41 in the control unit 40, the operation contents of the operator A transmitted from the controller 41 are wirelessly received, and the drive control of the propeller 22 and the operation of the repair unit 30a are performed according to these operation contents. It controls.

The above is performed by remote control by the controller 41, but the flight pattern and the repair operation are programmed in advance together with the position information and stored in the control unit 40, and the repair device 10 is automatically operated without using the controller 41. You may try to do it. In this case, the repair device 10 may be equipped with a GPS sensor so that the autopilot can be automatically operated according to the position information. Further, the program can be created based on images and position information acquired in advance by an unmanned aerial vehicle or the like equipped with a camera and a GPS sensor.

The above is the configuration of the repair device 10 according to the embodiment of the present invention, and then the repair operation of the repair device 10 will be described with reference to FIGS. 5 to 7.

5 and 6 are explanatory views illustrating a state in which the repair device 10 repairs the damaged portion 3 on the repair surface 2a of the object to be repaired 2 having a dome-shaped ceiling.

As shown in the figure, the repair device 10 is positioned near the damaged portion 3 of the repair surface 2a by remote control or autopilot. When the repair unit 30a is located in front of the damaged portion 3, the arm 31 is swung downward by the drive of the motor 26 to bring the roller 33 into contact with the repair surface 2a. At this time, the roller 33 may be appropriately pressed against the repair surface 2a according to the properties of the repair material 34.

Subsequently, the rotation of the swing shaft 23 causes the roller 33 to follow the repair surface 2a while rotating the arm 31 downward, so that the repair material 34 of the roller 33 is applied or adhered to the repair surface 2a. At this time, the displacement in the height direction when the roller 33 follows along the repair surface 2a is absorbed by the ascent of the repair device 10. Therefore, the amount of the repair material 34 applied or adhered to the repair surface 2a is kept constant.

In the above description, the arm 31 is rotated so that the roller 33 follows the repair surface 2a. However, the arm 31 is fixed in advance at a predetermined position, and the roller 33 is repaired by moving the repair device 10. It may be made to follow 2a. Further, the above-mentioned drive source (motor 26) may be abolished, the arm 31 may be fixed at a predetermined position, and the roller 33 may be made to follow the repair surface 2a by moving the repair device 10. As a result, the weight of the airframe 20 can be reduced, the flight of the repair device 10 can be stabilized, and the battery drive time can be improved.

As described above, when the repair material 34 is applied or adhered to the damaged portion 3, the damaged portion 3 is covered with the coating film of the repair material 34, and the repair is completed.

As shown in FIGS. 3 and 7, an airflow for flight is generated in the region directly below the propeller 22 of the unmanned flight unit 11 (hereinafter, the region in which the airflow is generated is also simply referred to as an airflow assumption region 12). .. Therefore, it is preferable that the repair unit 30a is provided at a position outside the assumed airflow region 12 so as not to interfere with the above-mentioned airflow. Specifically, as shown in FIG. 3, the repair unit 30a is provided in a region farther from the airframe 20 than the airflow assumption region 12 formed directly under the propeller 22, and as shown in FIG. 7, the airflow assumption region is provided. The repair unit 30a can be provided and operated at a position closer to the machine body 20 than 12. By doing so, the repair material 34 can be stably applied and attached by the repair unit 30a, and the repair device 10 can fly stably.

In the present embodiment, since the propeller portion 21 is provided toward the apex angle direction of the machine body 20 as shown in FIG. 4, the repair unit 30a has two propeller portions 21 so as not to interfere with the propeller portion 21. It is provided so as to be located between 21. If the airflow of the propeller 22 is strong and it is not easily affected by the repair unit 30a, the repair unit 30a may be provided in the airflow assumption region 12.

When the repair unit 30a is provided at a position outside the airflow assumption region 12, the repair material 34 is applied or adhered to the repair surface 2a, and then the airflow assumption region 12 is positioned on the adhesion position of the repair material 34. As a result, the repair material 34 can be pressed by the air flow to promote fixing.

Next, another embodiment of the repair unit 30a in the repair device 10 of the present invention will be described with reference to FIGS. 8 and 9.

FIG. 8 shows a brush 35 (also referred to as a processing unit 35) to which the repair material 34 can be applied or adhered, instead of the roller 33 of the repair unit 30a of the above-described embodiment. The brush 35 can adhere or impregnate the repair material 34. Further, the brush 35 is pivotally supported by the holder 32 so as to be swingable, and can swing following the repair surface 2a. Therefore, the repair device 10 is operated in the same manner as in the first embodiment, and the bristles of the brush 35 are slidably contacted while following the repair surface 2a to apply or adhere the repair material 34 to the repair surface 2a. be able to. The repair material 34 may be periodically attached to the brush 35, or a supply tank (not shown) for supplying the repair material 34 may be provided on the brush 35 so that the repair material 34 is automatically supplied.

FIG. 9 shows a nozzle 36 (also referred to as a processing unit 36) for applying or adhering the repair material 34, instead of the roller 33 of the repair unit 30a according to the first embodiment. The nozzle 36 is provided with a discharge port at the tip thereof, and the repair material 34 can be discharged on the repair surface 2a. Further, a supply tank 37 for the repair material 34 is provided on the nozzle 36, and the repair material 34 can be supplied to the nozzle 36 with an appropriate pump (not shown).

In addition to the above, an injection type spray can be used, but since the repair material 34 to be injected is easily scattered due to the influence of the air flow, it is necessary to lengthen the arm 31 and keep it as far away from the propeller 22 as possible. .. However, since the weight balance is lost when the arm 31 is lengthened, a roller 33, a brush 35, or a nozzle 36, which is less likely to scatter to unnecessary parts of the repair material 34, is used to stabilize the flight of the repair device 10. Is preferable.

Further, when the repair surface 2a is repaired from below, if a spray type spray is used, the repair material 34 may fall on the repair device 10, so that the roller 33, the brush 35, or the brush 35, or the brush 35, or the repair material 34 is less scattered. The nozzle 36 can be preferably used. When the nozzle 36 is used when repairing the repair surface 2a from below, it is preferable to use the repair material 34 having high viscosity or high adhesiveness in order to prevent the repair material 34 from dripping.

Next, another embodiment of the present invention will be described below with reference to FIGS. 10 to 13. In the present embodiment, a case where the object surface treatment device 10 is used for cleaning the cleaning surface will be described as an example. It should be noted that the same reference numerals are used for the same members as those in the above-described embodiment. Further, in FIGS. 11 and 12, for convenience of explanation, the size balance between the workers A and B and the repair device 10 is drawn so as to be different from the actual size.

As shown in FIGS. 10 and 11, the object surface treatment device 10 (also referred to as a cleaning device 10 or an unmanned aerial vehicle 10) can fly in the air by remote control or autopilot, as in the above-described embodiment. It is configured to include a flight unit 11, a cleaning unit 30b (also referred to as a follow-up unit 30) for cleaning the object to be cleaned 5, a control unit 40, and the like.

Although the shape of the unmanned aerial vehicle unit 11 is partially different, the configuration is the same as that of the above-described embodiment, and thus some description thereof will be omitted. The unmanned flight unit 11 is similar to the above-described embodiment in that the operator A can be remotely controlled or automatically operated by the controller 41. Here, in the present embodiment, as shown in FIG. 11, a towing rope 28 having a predetermined length is connected to the lower surface side of the airframe 20 of the unmanned flight unit 11 so as to hang down. The towing rope 28 can pull back the unmanned flight unit 11 by being pulled by the worker B on the ground 1 while the unmanned flight unit 11 is in flight. Details of the towing rope 28 will be described later.

As shown in FIG. 10, the unmanned flight unit 11 is provided with four arms 51. Further, the unmanned flight unit 11 has support shafts 52, 52 provided so as to bridge between the arms 51, 51 having a narrow interval among the four arms 51. The four arms 51 provided in the unmanned flight unit 11 are each provided on the tip end side of the propeller portion 21. Further, the arms 51 are extended so that their respective tip sides extend outward. Further, the support shafts 52 and 52 support the cleaning units 30b and 30b (also referred to as the follow-up unit 30), which will be described in detail later. In the present embodiment, two pairs of arms 51 on which the support shafts 52 are bridged are provided so as to be symmetrical in the left-right direction shown in the drawing. Therefore, two sets of cleaning units 30b are also arranged so as to be symmetrical in the left-right direction shown in the drawing.

As shown in FIG. 11, the arm 51 is arranged so that its tip side is inclined toward the upper side. The inclination angle is arbitrary, but the cleaning unit 30b is set to be higher than the propeller 22. As a result, when the cleaning unit 30b comes into contact with the cleaning surface 6 described later, the propeller 22 is prevented from interfering with the cleaning surface 6.

As shown in FIG. 10, the cleaning unit 30b is supported by a support shaft 52 bridged between a pair of arms 51. Further, in the cleaning unit 30b, for example, a removing material 53 (also referred to as a processing unit 53) formed of a mop, a brush, a roller, or the like is mounted on the outer periphery of the support shaft 52. The removing material 53 removes, for example, a spider web or other object to be cleaned 5 adhering to the cleaning surface 6 by abutting on the cleaning surface 6 such as the eaves, ceiling, or wall surface. When a roller is used, for example, it is preferable that the adhesive tape is wound around the outer circumference, or the outer circumference is formed of a non-woven fabric, cloth, or the like.

Next, a cleaning method (also referred to as a processing method) by the cleaning device 10 will be described below with reference to FIG. In the present embodiment, a case where a spider web is attached to the cleaning surface 6 and the fluorescent lamp 8 provided on the cleaning surface as the object to be cleaned 5 will be described as an example.

The operator A raises the unmanned flight unit 11 by the controller 41, and brings the unmanned flight unit 11 closer to the upper cleaning surface 6. Here, when the propeller 22 approaches the cleaning surface 6, a negative pressure is generated between the cleaning surface 6 and the machine body 20. Therefore, the unmanned flight unit 11 is attracted so as to stick to the cleaning surface 6. At this time, the worker B pulls the towing rope 28 downward, so that the unmanned flight unit 11 is pulled downward against the negative pressure. In this state, the operator A moves the unmanned flight unit 11 by the controller 41 so that the object to be cleaned 5 and the cleaning unit 30b face each other. At this time, instead of the operation of the worker A, the worker B may pull the towing rope 28 to move the unmanned flight unit 11.

When the cleaning unit 30b faces the object to be cleaned 5, the unmanned flight unit 11 is raised to bring the removal material 53 into contact with the object to be cleaned 5. Next, with the removal material 53 in contact with the object to be cleaned 5, either or both of the worker A and the worker B move the machine body 20 in, for example, the horizontal direction. As a result, the object to be cleaned 5 is removed by the removing material 53. To remove the object to be cleaned 5, for example, when the removing material 53 is a mop and the object to be cleaned 5 is a spider web, the spider web is entangled with the mop. When the removing material 53 is, for example, a brush, the object to be cleaned 5 is scraped off by the brush. When the removing material 53 is an adhesive roller, the object to be cleaned 5 is removed by adhering the object to be cleaned 5 to the surface of the adhesive roller.

In addition to the fixed type, the arm 51 can be of various forms such as a detachable type and a stretchable type. When it is necessary to give strength to the arm 51, it is preferable to use a carbon fiber material. The material of the arm 51 is not limited to this, and various materials can be used. Further, the arm 51 may be movable and swingable as in the above-described embodiment.

Next, another embodiment of the cleaning unit 30b will be described below with reference to FIG. As shown in the figure, in the present embodiment, one of the cleaning units 30b is assumed to have a nozzle 54 (also referred to as a suppression material supply unit 54 or a processing unit 54) for supplying the suppression material 7. Although not shown, a plurality of nozzles 54 are provided along the support shaft 52, and a suppressor 7 supplied by an appropriate means such as a pump can be ejected toward the cleaning surface 6. .. The shape and number of nozzles 54 can be changed as appropriate.

On the other side of the cleaning unit 30b, a removing material 53 is provided as in the above-described embodiment. In the present embodiment, the configuration is the same as that of the above-described embodiment except that one of the cleaning units 30b is replaced with the nozzle 54, and thus the description of the same portion will be omitted.

In the present embodiment, the unmanned flight unit 11 is operated by the operator A as in the above-described embodiment, while the operator B pulls the towing rope 28 to position the cleaning unit 30b at a predetermined position on the cleaning surface 6. It is supposed to be made to do. Here, the removing material 53 is positioned so as to face the object to be cleaned 5, and the nozzle 54 is positioned on the cleaning surface 6 at a place where spiders and the like are desired to be repelled. As the inhibitor 7, for example, a repellent for spiders, other insects, birds, etc., various insect repellents, and the like may be used. In this way, by using various repellents or the like for the inhibitor 7, it is possible to suppress the adhesion of dirt to the cleaning surface 6 by insects or the like for a certain period of time. In the present embodiment, the removal material 53 removes the object to be cleaned 5 and the suppression material 7 is ejected from the nozzle 54 at the same time, but it is also possible to act individually. In such a case, for example, after removing the object 5 to be cleaned with the removing material 53, it is preferable to attach the suppressing material 7 to the cleaning surface 6 with the nozzle 54.

FIG. 13 is a plan view showing still another embodiment of the object surface treatment device 10. As shown in the figure, in the present embodiment, the arm 51 is reinforced by the support member 55. The support member 55 is bridged between the arms 51 in which the cleaning unit 30b is not held. The support material 55 may be made of carbon fiber as well as the arm 51. Further, the support material 55 is not limited to this, and various materials such as a rope can be used.

The above is an example of the embodiment of the present invention, but the present invention is not limited to the above-described embodiment, and appropriate modifications can be made within the scope of the invention.

In the embodiment of the present invention, the repair material 34 is applied or adhered to the repair surface 2a from above, but the repair unit 30a is positioned on the body 20 of the unmanned flight unit 11 to provide the repair surface 2a. It is also possible to repair from below.

In the embodiment of the present invention, the repair unit 30a can swing only in the vertical direction, but for example, by making the holder 32 swingable with respect to the arm 31, it can also swing in the horizontal direction. be able to.

In the embodiment of the present invention, the cleaning unit 30b is brought closer to the cleaning surface 6 from below, but the cleaning unit 30b may be brought closer to the cleaning surface 6 from the side surface or above. ..

In the embodiment of the present invention, two sets of cleaning units 30b are provided, but the cleaning units 30b may be singular or two or more. When four sets of cleaning units 30b are provided, for example, the cleaning units 30b may be arranged between the four arms 51. Further, the length and shape of the arm 51 can be appropriately changed according to the cleaning surface 6 and the object to be cleaned 5. The size and shape of the cleaning unit 30b can also be appropriately changed according to the cleaning surface 6 and the object to be cleaned 5.

In the embodiment of the present invention, the repair unit 30a and the cleaning unit 30b are supported by the body 20 of the unmanned flight unit 11 via the arm, but the repair unit 30a and the cleaning unit 30b are directly supported by the body 20. It may be done.

In the embodiment of the present invention, four propellers 22 are provided, but the shape and number of propellers 22 can be changed as appropriate. Further, in the embodiment of the present invention, one or two workers are required, but the autopilot without a worker or the combination of the autopilot and the person pulling the towing rope 28 is assumed. Is also good.

The object surface treatment device and the unmanned aerial vehicle of the present invention can be used for various repairs such as dome of batting center and stadium, vinyl house, various tents, buildings and bridges. Further, the object surface treatment device of the present invention can be used for cleaning spider webs, dust, etc. adhering to the ceiling, wall surface, etc. of various buildings.

2 Object to be repaired 5 Object to be cleaned 6 Cleaning surface 7 Suppressor 10 Repair device (unmanned aerial vehicle)
11 Unmanned flight unit 12 Airflow assumed area 20 Aircraft 21 Propeller part 22 Propeller 23 Swing shaft 30a Repair unit (following unit)
30b Cleaning unit (following unit)
31 Arm 32 Holder 33 Roller (Repair material supply part, processing part)
34 Repair material 35 Brush (repair material supply part, processing part)
36 Nozzles (Repair material supply section, processing section)
40 Control unit 51 Arm 53 Removal material (processing unit)
54 Nozzles (suppressor supply unit, processing unit)

Claims (24)

An unmanned flight unit that can fly by remote control or autopilot,
It is equipped with a tracking unit that is supported by the body of the unmanned flight unit and can follow the target surface.
The following unit includes a processing unit that processes the target surface, and the unmanned flight unit is made to follow the processing unit along the target surface by remote control or autopilot during flight of the unmanned flight unit. An object surface treatment device characterized in that the object is moved. The target surface is a cleaning surface to which an object to be cleaned is attached.
The following unit is a cleaning unit.
The processing unit has a removing material for removing the object to be cleaned.
The object surface treatment apparatus according to claim 1, wherein the object to be cleaned can be removed from the surface to be cleaned by moving the unmanned flight unit while bringing the removal material into contact with the object to be cleaned. The target surface is a cleaning surface to which an object to be cleaned is attached.
The following unit is a cleaning unit.
The processing unit has a suppressor supply unit capable of supplying a suppressor that suppresses adhesion of the object to be cleaned.
The target surface according to claim 1, wherein the restraining material can be attached to or applied to the cleaning surface by moving the unmanned flight unit while allowing the restraining material supply unit to follow the cleaning surface. Processing equipment. The removing material consists of a mop, a brush, or a roller.
The object surface treatment apparatus according to claim 2 or 3, wherein the restraining material supply unit includes any of a brush, a brush, and a nozzle. The object surface treatment apparatus according to any one of claims 2 to 4, wherein the object to be cleaned is a spider web. The object surface treatment apparatus according to any one of claims 2 to 5, wherein the inhibitor is a spider repellent. The target surface is the repair surface of the object to be repaired.
The following unit is a repair unit,
The processing unit has a repair material supply unit to which the repair material is applied or adhered.
The object surface treatment apparatus according to claim 1, wherein the repair material supply unit applies or adheres the repair material to the repair surface by remote control or autopilot during flight of the unmanned flight unit. .. The object surface treatment apparatus according to claim 7, wherein the repair material supply unit applies or adheres the repair material to the repair surface while pressing the repair material. The object surface treatment apparatus according to claim 7 or 8, wherein the repair material supply unit comprises either a roller or a brush impregnated with the repair material or a nozzle for ejecting the repair material. The object surface treatment apparatus according to claim 8 or 9, wherein the repair unit is swingably supported by the airframe, and the repair material supply unit is configured to be able to follow the repair surface. .. Any of claims 7 to 10, wherein the repair unit can apply or adhere the repair material at a position outside the region where the airflow accompanying the flight of the unmanned flight unit is expected. The object surface treatment apparatus according to paragraph 1. The object surface treatment device according to any one of claims 7 to 11, wherein the repair unit is located at a position that does not interfere with the ground when the unmanned flight unit takes off or lands. A tracking unit that processes the target surface is supported on the body of an unmanned flight unit that can fly by remote control or autopilot, and while the unmanned flight unit is flown by remote control or autopilot, the tracking unit is the subject A processing method characterized in that the target surface is processed. The follow-up unit is a cleaning unit that removes the object to be cleaned from the cleaning surface to which the object to be cleaned is attached.
The processing method according to claim 13, wherein the treatment is for removing the object to be cleaned from the cleaning surface. The follow-up unit is a repair unit that applies a repair material to the repair surface of the object to be repaired.
The treatment method according to claim 13, wherein the treatment is to apply a repair material to the repair surface. An unmanned aerial vehicle capable of flying by remote control or autopilot, including a propeller section having at least one propeller that generates buoyancy and an aircraft that supports the propeller section.
The aircraft
An arm with one end supported by the aircraft,
A follow-up unit provided at the other end of the arm is provided.
The following unit is an unmanned aerial vehicle having a processing unit that follows a target surface, and the processing unit processes the target surface by remote control or autopilot during flight. The following unit is a cleaning unit.
The airframe has at least one pair of said arms.
The cleaning unit is bridged between the respective arms on the other end side of the respective arms.
Either or both of the removing material that abuts on the cleaning surface by the cleaning unit following the cleaning surface of the object to be cleaned and the suppressing material supply unit that can supply the suppressing material that suppresses the adhesion of the object to be cleaned. The present invention is characterized in that the object to be cleaned is removed from the cleaning surface by the removing material or the restraining material is attached or applied to the cleaning surface by remote operation or autopilot during flight. The unmanned air vehicle according to 16. The aircraft has a towing rope that can be hung from the aircraft.
By bringing the airframe closer to the airframe, a negative pressure is generated between the airframe and the airframe.
In a state where the negative pressure is generated, while pulling the towing rope downward, the aircraft is moved by remote control or autopilot, and the processing unit is positioned so as to face a predetermined position on the target surface. The unmanned aerial vehicle according to claim 16 or 17, characterized in that. The following unit is a repair unit provided on the other end side of the arm.
The repair unit has a repair material supply unit that applies or adheres the repair material by following the repair surface of the object to be repaired, and the repair material supply unit is applied to the repair surface by remote control or autopilot during flight. The unmanned aerial vehicle according to claim 16, wherein a repair material is applied or adhered to the vehicle. The unmanned aerial vehicle according to claim 19, wherein the repair material supply unit is applied or adhered to the repair surface while pressing the repair material. The unmanned aerial vehicle according to claim 19 or 20, wherein the repair material supply unit comprises either a roller or a brush impregnated with the repair material or a nozzle for ejecting the repair material. The method according to any one of claims 19 to 21, wherein the repair unit is swingably supported by the airframe, and the repair material supply unit is configured to be able to follow the repair surface. Unmanned aerial vehicle. The unmanned aerial vehicle according to any one of claims 19 to 22, wherein the repair unit is capable of applying or adhering a repair material at a position outside the region where airflow due to flight is expected. Aircraft. The unmanned aerial vehicle according to any one of claims 19 to 23, wherein the repair unit is located at a position where it does not interfere with the ground when taking off or landing.

Images