JP2023026219A - Drone and wall surface inspection system using the same - Google Patents

Abstract

To provide a drone which enables an inspection device to be easily and stably positioned relative to a wall surface with a simple structure, and to provide a wall surface inspection system using the drone.SOLUTION: A drone includes: a drone body 1; contact parts 2 each having a contact surface T which contacts with a predetermined wall surface W; and a connection part 3 which connects the drone body 1 with the contact parts 2. The drone body 1 has: flying means 11; control means 12 which controls the flying means 11; and a drone constituent body 13 provided with the flying means 11 and the control means 12. Each contact part 2 is provided protruding from the connection part 3 so as to be disposed at the front relative to the drone body 1. An inspection device V which performs predetermined inspection operation to the wall surface W is provided at the connection part 3. In a state where the entire contact surface T contacts with the wall surface W, the drone body 1 has an inclined attitude at which the drone body 1 inclines obliquely downward.SELECTED DRAWING: Figure 1

Description

The present invention relates to a drone and a wall inspection system using the drone.

In recent years, with the development of technologies such as smartphones and the Internet, drones have become popular all over the world. A drone is an aircraft that can fly unmanned by remote control or automatic control, and is also called a multicopter.

Uses of drones include aerial photography and inspections of areas that are difficult to implement with human power alone, such as the outer walls of high-rise buildings, using pre-installed cameras and inspection tools.

By the way, when using a drone for such purposes, it is necessary to devise ways to maintain a stable flight position so that the drone does not move away from the target outer wall due to the effects of weather, piloting errors, etc.

In response to this, the present inventors have proposed the exterior wall inspection system disclosed in Patent Document 1 and Patent Document 2.

In these exterior wall inspection systems, an inspection device connected to a drone is connected to a guide wire extending from the roof of a building or a standing surface of a building. to the outer wall.

Japanese Patent No. 6877013 Japanese Patent No. 6877723

According to the above proposals by the present inventors, etc., it is possible to easily position a predetermined inspection device on the outer wall in the inspection of the outer wall.

However, even with the previous proposal, the following problems to be improved still remain.

In other words, it takes a lot of labor to build the entire system, including installing the winch device and connecting the drone and the frame, and it is difficult to temporarily position the inspection device using only the drone.
As a result, when the above proposal is applied to a predetermined wall surface, a certain number of people and technical skills are required, and versatility is lacking.

The present invention has been made in view of the actual situation as described above. An object of the present invention is to provide an inspection system.

In order to solve the above-mentioned problems, the present invention provides a drone body, a contact portion having a contact surface that contacts a predetermined wall surface, a connecting portion that connects the drone body and the contact portion, with
The drone main body has flight means, control means for controlling the flight means, and a drone structure provided with the flight means and the control means,
The abutting portion protrudes from the connecting portion so as to be disposed forward of the drone body,
The connecting portion is provided with an inspection device that performs a predetermined inspection operation on the wall surface,
In a state in which the entire contact surface is in contact with the wall surface, the posture of the drone body is configured to be an inclined posture directed obliquely downward.

According to the drone of the present invention, the operator can easily and stably position the inspection device on the wall surface.

That is, when the drone is normally flown forward, the difference in the lift forces of the propellers naturally causes the drone to assume a tilted attitude toward obliquely downward.
Therefore, according to the above configuration, the operator can smoothly bring the entire contact surface into contact with the wall surface by simply flying the drone body forward.
As a result, the operator can reliably apply pressure based on the forward propulsion force of the drone body to the wall surface through the contact surface, suppressing the positional deviation of the drone body and, by extension, the inspection device relative to the wall surface. It becomes possible to

In a preferred form of the invention, the contact surface is made of an elastic material.

With this configuration, as the forward propulsion force of the drone body increases, a strong frictional force is generated between the contact surface and the wall surface, so the position of the inspection device is further reduced. can be effectively suppressed.

In a preferred embodiment of the present invention, a plurality of the contact surfaces are provided at intervals in the vertical direction, and the plurality of contact surfaces are provided on the same plane.

By adopting such a configuration, the contact surface can be designed to be small while ensuring the frictional force generated between the contact surface and the wall surface, making the structure of this drone simple and lightweight. becomes possible.

In a preferred form of the present invention, the drone structure is structured in a frame-like manner by slender rod-like bodies.

With such a configuration, it is possible to make the drone structure simple and lightweight.

In a preferred form of the present invention, the connecting portion is configured in a frame-like manner by slender rod-shaped bodies.

With such a configuration, it is possible to make the connecting portion simple and lightweight.

In a preferred form of the invention, the elongated rod-shaped body is hollow.

By adopting such a configuration, it becomes possible to further reduce the weight of the drone structure or the connecting portion.

In a preferred form of the invention, a conductor electrically connecting the flight means and the control means is housed inside the elongated rod.

By adopting such a configuration, it is possible to prevent damage to the conducting wires and maintain a good aesthetic appearance of the drone as a whole.

In a preferred embodiment of the present invention, the inspection device is provided in the inspection device holding portion, and the inspection device holding portion has a slide for reciprocatingly sliding the inspection device in a direction substantially perpendicular to the surface direction of the wall surface. A moving means is provided.

With such a configuration, the operator can freely adjust the distance between the inspection device and the wall surface after positioning the inspection device on the wall surface together with the drone.

In a preferred embodiment of the present invention, the inspection device holding portion is provided with the inspection device, and the inspection device is a drill device for drilling the wall surface.

With such a configuration, it is possible to conduct a neutralization depth test by the drill method with this drone.

Further, the present invention is a wall surface inspection system,
The drone described above, a guide wire provided along the surface direction of the wall surface, and a wire support means for supporting the guide wire,
the drone is attached to the guide wire;
The wire support means has a winch device for unwinding and winding the guide wire,
The guide wire is stretched by the winch device,
The drone is sandwiched between the guide wire and the wall surface by being pressed toward the wall surface by the tension of the guide wire stretched by the winch device.

ADVANTAGE OF THE INVENTION According to this invention, with a simple structure, it is possible to provide a drone and a wall surface inspection system using the drone that can easily and stably position an inspection device on a wall surface.

1 is a schematic perspective view of a drone according to an embodiment of the invention; FIG. 1 is a plan view of a drone according to an embodiment of the invention; FIG. 1A and 1B are a side view and a rear view of a drone according to an embodiment of the present invention; FIG. 1A and 1B are an enlarged side view and an enlarged front view of a drone according to an embodiment of the present invention; FIG. It is an explanatory view of how to use the drone according to the embodiment of the present invention. It is an explanatory view of how to use the drone according to the embodiment of the present invention. It is an explanatory view of how to use the wall surface inspection system according to the embodiment of the present invention. It is an explanatory view of how to use the wall surface inspection system according to the embodiment of the present invention. It is an explanatory view of how to use the wall surface inspection system according to the embodiment of the present invention. It is an explanatory view of how to use the wall surface inspection system according to the embodiment of the present invention.

Hereinafter, drones according to embodiments of the present invention will be described with reference to the drawings.
In addition, the embodiment shown below is an example of the present invention, and the present invention is not limited to the following embodiments.
Moreover, in these figures, the code|symbol X shows the drone which concerns on this embodiment.
For convenience of explanation, the x-axis direction shown in FIGS. 1 and 2 is the front-rear direction, the y-axis direction is the left-right direction, and the z-axis direction is the up-down direction.

The configuration of the drone X will be described below with reference to FIGS. 1 and 2. FIG.
1 and 2, the inspection device V is omitted.
In addition, in FIG. 2 , the elongated rod-shaped bodies constituting the drone structure 13 to be described later are indicated by dotted lines, and the elongated rod-shaped bodies to form the connecting portion 3 to be described later are indicated by solid lines.

As shown in FIGS. 1 and 2, the drone X includes a drone body 1, a contact portion 2 having a contact surface T that contacts a predetermined wall surface W (see FIG. 4, etc.), and a drone body 1. A connection portion 3 that connects the contact portion 2 is provided.

The drone main body 1 has a flight means 11, a control means 12 for controlling the flight means 11, and a drone structure 13 in which the flight means 11 and the control means 12 are provided.

In this embodiment, the flight means 11 is a plurality of propeller devices like a general drone, and includes a two-bladed propeller body 11a, a motor section 11b for rotationally driving the propeller body 11a, and a motor section 11b. and a bracket 11c that connects with the drone structure 13 .

The control means 12 is provided substantially in the center of the drone structure 13 in a plan view, and can individually control the driving state of each motor portion 11b, thereby controlling the attitude of the drone X in the air, the direction of movement, and the direction of movement. It is a so-called flight controller that controls movement speed and the like.
As a result, the operator can use the remote controller wirelessly connected to the control means 12 to freely fly the entire drone X three-dimensionally.

The drone constructing body 13 as a whole is configured in a frame shape by a substantially cylindrical slender rod-like body, and is composed of a constructing body 13a formed along a plane substantially perpendicular to the rotation axis of the propeller main body 11a, a structure and a plurality of legs 13b protruding downward from the main body 13a.
Note that the elongated rod-shaped body that constitutes the drone structure 13 is hollow.
Also, the elongated rod-shaped body is formed using a lightweight material such as carbon.

The structure main body 13a includes a first structure p1, which is provided with the flight means 11 and the control means 12, and which is formed in a substantially square cross-shape in plan view, and , a substantially U-shaped second construct p2, a third construct p3 projecting backward from the first construct p1 and substantially U-shaped in plan view, and leftward from the first construct p1 A fourth structure p4 projecting in a substantially E shape in plan view, and a fifth structure p5 protruding rightward from the first structure p1 and protruding in a substantially E shape in plan view It is configured.

Further, each of these constituent bodies p1 to p5 is configured in a frame shape by connecting a plurality of linear or curved slender rod-shaped bodies having approximately the same diameter with joints j.
As for the joint j, three-way to five-way joints j are appropriately used according to the number of connections and the connection direction.

In addition, in the slender rod-shaped bodies extending in the front-rear direction, which are used on the left and right sides of the first structure p1, communication holes h for communicating between the outside and the inside are provided in the vicinity of each flight means 11. ing. Furthermore, the elongated rod-like body covered with the control means 12 is also provided with one or more communication holes (not shown).
Each conductor k electrically connecting each motor portion 11b and the control means 12 passes through the inside of the elongated rod-like body through each communication hole h and exits through the communication hole below the control means 12. Thus, it is connected to the control means 12 .

Four legs 13b are provided so as to be arranged at the four corners of the first structure p1 in plan view, and a substantially cylindrical rubber leg r is provided at the lower end of each leg 13b.
Each leg 13b is formed by connecting three slender rod-shaped bodies with joints j, and the vertically extending slender rod-shaped bodies are connected to joints j provided in the structure main body 13a. .
Other elongated rod-shaped bodies are also connected to the structure main body 13a using, for example, flexible joints (not shown) that can be fitted from the outside.

The contact portion 2 is a generally columnar body made of an elastic material as a whole, and the contact surface T is the tip end surface of the contact portion 2 .
Moreover, each contact surface T is provided on the same plane.

As with the drone structure 13 , the connecting part 3 is generally configured in a frame shape by a substantially cylindrical slender rod-like body, and stands upward from the drone main body 1 .
The elongated rod-shaped body used for the connecting part 3 is hollow and has substantially the same diameter as the elongated rod-shaped body used for the drone structure 13 .

In addition, the connecting portion 3 includes an inspection device holding portion 31 in which an inspection device V (see FIG. 3, etc.) that performs a predetermined inspection operation on the wall surface W is provided, and a pair of front support portions formed in a substantially linear shape. 32 , a pair of side support portions 33 formed in a substantially L shape, and a projecting portion 34 formed in a substantially straight line and connecting the front support portion 32 and the contact portion 2 .
In addition, although the above components constituting the connecting part 3 are shown as a single continuous slender rod-shaped body, as in the drone structure 13, a plurality of slender rod-shaped bodies can be connected by joints j. The entire part 3 may be constructed.

The inspection device holding portion 31 includes a pair of side portions q1 erected upward from the first structure p1 and a plurality of suspension portions q2 suspended from each side portion q1.
Each side portion q1 and each suspension portion q2 form a substantially rectangular parallelepiped space surrounded by an elongated rod-shaped body in the inspection device holding portion 31 .

Each side portion q1 is formed in a substantially F shape extending obliquely upward when viewed from the side.
Moreover, each side portion q1 is provided so as to be bilaterally symmetrical in a plan view, as particularly shown in FIG.

Each suspension portion q2 includes a first suspension portion q21, a second suspension portion q22, and a third suspension portion q23 that suspend the upper side of each side portion q1, and a fourth suspension portion q24 that suspends the lower portion of each side portion q1 (Fig. 3 (b)) and the fifth suspension portion q25.

Each front support part 32 stands obliquely rearward from both front ends of the second structure p2 and is connected to the front end of each side part q1.

Each side support portion 33 is erected upward from the right end of the fourth structure p4 and the left end of the fifth structure p5, and is connected to each side portion q1.

Two protruding portions 34 are provided on each front support portion 32 with an interval therebetween in the vertical direction.
Moreover, as shown particularly in FIG. 2, each projecting portion 34 is provided so as to be bilaterally symmetrical in a plan view, and extends obliquely upward at substantially the same angle in a side view.
The angle at which each projecting portion 34 extends is substantially the same as the angle at which each side portion q1 extends. It is made with the aspect that was done.

Here, the drone X is provided with a total of four contact portions 2 by providing the contact portions 2 at the tips of the projecting portions 34 respectively.
Further, each contact portion 2 is projected from the connection portion 3 by each projecting portion 34 so as to be arranged forward of the drone body 1 .

Hereinafter, a mode in which the inspection device V is provided in the inspection device holding portion 31 will be described with reference to FIGS. 3 and 4. FIG.
In addition, FIG.4(b) is the front view which looked at the inspection apparatus V shown to Fig.4 (a) from the arrow direction of Fig.4 (a).

.
As shown in FIG. 3, when the inspection device V is provided, the inspection device holding portion 31 is provided with sliding means m and support means n.

The sliding means m is provided in the space formed by the inspection device holding portion 31 via a bracket f1 provided on the first suspension portion q21 and the second suspension portion q22.
Further, the upper surface of the rail portion m1 of the sliding means m, which will be described later, is connected to the end portion of the bracket f1 by a predetermined connecting means such as a small screw or an adhesive.

A pair of brackets f1 are provided on the first suspension portion q21 and the second suspension portion q22, respectively, and are members extending in the vertical direction. Linked to q22.

The support means n is provided in the space formed by the inspection device holding portion 31 via a bracket f2 provided on the fifth suspension portion q25.

The bracket f2 is a vertically extending member provided on the fifth suspension portion q25, and its lower end is connected to the fifth suspension portion q25.

4, the slide means m and the support means n will be described in detail. It is composed of a thin plate-like body m3 and a control means m4 for controlling the reciprocating sliding motion of the bracket m2.
The support means n projects upward from the bracket f2, and its upper end is curved in a semicircular shape so that the shaft V3, which will be described later, can be stably mounted thereon.
In addition, in FIG. 4B, the through holes provided in the bracket f1 and the bracket f2 are indicated by dotted lines.

In this embodiment, the inspection device V is a drilling device for drilling the wall surface W, and includes a drill portion V1 that penetrates the wall surface W, a driving portion V2 that rotates the drill portion V1, the drill portion V1 and the driving portion. V2, and a battery V4 that supplies electric power to the drive unit V2.

Note that the rotational drive of the drill part V1 by the drive part V2 and the sliding operation of the inspection device V by the sliding means m are wirelessly controlled by a remote controller different from the remote controller that causes the drone X to fly.

A method of using the drone X according to the present embodiment will be described below with reference to FIGS. 5 to 10. FIG.
The drone X or the wall surface inspection system S in this embodiment is used for the wall surface inspection used in the neutralization depth test, which is called the drilling method.
The drilling method involves drilling holes in the wall surface (concrete) of the target building using a drilling device, applying a reagent such as phenolphthalein to the drilling powder generated at this time, and observing the color of the drilling powder. This is a method for evaluating the durability of the target building.

An example of wall surface inspection using only the drone X will be described below with reference to FIGS. 5 to 7. FIG.

First, as shown in FIG. 5A, the operator flies the drone X to the vicinity of a predetermined wall surface W to be inspected, such as an outer wall or an inner wall of a building, and moves the inspection device V on the desired wall surface W. position.
In addition, at this time, the operator keeps the posture in the air by causing the drone X to hover.

Here, as shown in FIG. 5(a), the drone body 1 is horizontal with respect to the standing surface (ground) on which the wall surface W is erected, that is, the drone is in a state where the pitch angle is 0 degrees. Assume that the posture of the main body 1 is a horizontal posture.

Next, the operator flies the drone X forward toward the wall surface W, as shown in FIG. 5(b).
As a result, the lift force of the two propeller bodies 11a at the front becomes weaker than the lift force of the two propeller bodies 11a at the rear, so that the drone body 1 changes its attitude from a horizontal attitude to an increased pitch angle, and is tilted obliquely downward. Posture.
At this time, it is preferable for the operator to adjust the forward propulsion force applied to the drone body 1 so that the plane direction of the contact surface T and the plane direction of the wall surface W are substantially parallel.

Next, as shown in FIG. 6A, the operator causes the drone X to fly forward so that the entire contact surface T contacts the wall surface W. As shown in FIG.
At this time, the operator increases the forward propulsion force of the drone body 1, and a frictional force based on the movement in the direction in which the pitch angle increases is generated between the contact surface T and the wall surface W. Then, the drone X is stably positioned with respect to the wall surface W.

The operator may bring the contact surface T into contact with the wall surface W in a state where the pitch angle is smaller than that shown in FIGS. 5(b) and 6(a).
In this case, the lower end of the contact surface T on the lower side comes into contact with the wall surface W first. The angle increases in such a way that the drone X pivots about the bottom edge of the lower abutment surface T.
As a result, the operator can bring the drone X into the same state as shown in FIG. 6(a).

Next, as shown in FIG. 6(b), the operator operates the drill part V1 and slides the inspection device V forward with the sliding means m to penetrate the wall surface W with the drill part V1. Let

As a result, the wall surface W is drilled, and the drilling powder falls on the ground, allowing the operator to collect the drilling powder and conduct a neutralization depth test.

Moreover, the operator can make the drone X fly again by pulling out the end of the drill part V1 from the wall surface W by the sliding means m.
As a result, the operator can drill a hole on the wall surface W at a location different from that described above by using the drone X in the same procedure as described above.

An example of wall surface inspection using a wall surface inspection system S using a drone X and a guide wire A will be described below with reference to FIGS. 7 to 10. FIG.

As shown in FIGS. 7 and 8, the wall surface inspection system S is applied to an outer wall (wall surface W) of a building Z erected on a predetermined standing surface G. V, a guide wire A provided along the surface direction of the wall surface W, a wire support means B for supporting the guide wire A, and a separation means C for separating the drone X from the wall surface W.

The inspection device V is arranged between the guide wire A and the wall surface W, as shown in particular in FIG.

The guide wires A are, for example, high-strength metal wires such as piano wires, and in the present embodiment, each tip of four guide wires A is attached to each side support portion 33 .

The wire support means B includes a pair of upper wire support means B1 provided on the roof of the building Z, a pair of lower wire support means B2 provided on the standing surface G immediately below each upper wire support means B1, It is composed of
In the following description, the guide wires A supported by the upper wire supporting means B1 are referred to as the upper guide wires A1, and the guide wires A supported by the lower wire supporting means B2 are referred to as the lower guide wires A2.

The upper wire support means B1, as shown particularly in FIG. and a pair of second guide rollers R2 provided on the side of the base H.
The lower wire support means B2 has a winch device U.

The winch device U can electrically wind and unwind each guide wire A by remote control.
Therefore, each winch device U can perform winding and unwinding individually, or can be interlocked to perform winding and unwinding operations at the same time.
The winch device U of the upper wire support means B1 is provided on the upper portion of the base H.

The first guide roller R1 is supported by the bracket b1 and configured to be rotatable around the substantially horizontal direction.

The pair of second guide rollers R2 are supported by brackets b2, respectively, and are configured to be rotatable with respect to the wall surface W about a substantially vertical direction.
Moreover, each 2nd guide roller R2 is pinching|pinching each top guide wire A1 by facing each other and being provided.

By configuring the first guide roller R1 and the second guide roller R2 in this way, the winding and unwinding operations of each upper guide wire A1 by each winch device U are smoothly performed.

The spacing means C has a spacing wire C1 extending from the erecting surface G toward the drone X, and a winding means C2 provided on the erecting surface G and around which the spacing wire C1 is wound.

The winding means C2 can electrically wind and unwind the separation wire C1 by remote control.

By configuring the separating means C in this way, the operator can wind the separating wire C1 by the winding means C2 and pull the drone X away from the wall surface W.
As a result, it is possible to prevent the drone X from colliding with the wall surface W when flight control becomes difficult due to an unexpected failure of the drone X or the like.

When using the above-described wall surface inspection system S, first, the worker places each wire support means B at a predetermined position (in this embodiment, two positions on the roof of the building Z and two positions on the standing surface G). do.

Next, the operator unwinds each guide wire A wound around each wire support means B (winch device U) and fastens the end of each guide wire A to each side support portion 33 .
Further, the operator unwinds the separation wire C1 wound around the winding means C2, and fastens the end of the separation wire C1 to the rear of the first structure p1.

Next, the operator flies the drone X to the vicinity of the wall surface W to be inspected, and directs the inspection device V to a desired position on the wall surface W, as shown in FIGS. 7 and 8 .
In addition, at this time, the operator keeps the posture in the air by causing the drone X to hover.

Next, the operator flies the drone X forward toward the wall surface W in the same manner as in the state shown in FIG. The entire surface of the surface T is brought into contact with the wall surface W.
6(b), the operator slides the inspection device V forward with the sliding means m while operating the drill portion V1, thereby allowing the drill portion V1 to be attached to the wall surface W. penetrate.

As a result, the wall surface W is drilled, and the drilling powder falls on the erected surface G, allowing the operator to collect the drilling powder and conduct a neutralization depth test.

At this time, the operator can use each winch device U to wind each guide wire A and stretch each guide wire A. As shown in FIG.
As a result, the wall surface inspection system S changes from the state shown in FIG. 9 to the state shown in FIG.

That is, by stretching each guide wire A, the slack portion of each guide wire A moves toward the wall surface W, and the drone X to which each guide wire A is connected moves the tension of each guide wire A. Therefore, it is pressed against the wall surface W.
Then, the drone X is sandwiched between the wall surface W and each guide wire A, and the drone X is positioned on the wall surface W more stably.

Further, the operator can pull out the end of the drill part V1 from the wall surface W by the sliding means m and loosen the guide wires A by the wire supporting means B, so that the drone X can fly again.
As a result, the operator can drill a hole on the wall surface W at a location different from that described above by using the drone X in the same procedure as described above.

When finishing the wall surface inspection, the operator pulls out the drill part V1 from the wall surface W as described above, loosens each guide wire A, and then places the drone X on the roof of the construction Z or on the standing surface G. let it land.

Also, the worker recovers the drone X by releasing the fastening between the drone X and each guide wire A.
Then, the operator winds up each guide wire A by each winch device U, and then recovers each wire support means B. As shown in FIG.

According to this embodiment, the operator can reliably apply the pressure based on the forward propulsion force of the drone body 1 to the wall surface W through the contact surface T, and the drone body 1 and the inspection device V , positional deviation with respect to the wall surface W can be suppressed.

In addition, since the contact surface T is made of an elastic material, a strong frictional force is generated between the contact surface T and the wall surface W as the forward propulsion force of the drone body 1 increases. Therefore, it is possible to more effectively suppress the fluctuation of the position of the inspection device V.

In addition, since a plurality of contact surfaces T are provided on the same plane at intervals in the vertical direction, the frictional force generated between the contact surface T and the wall surface W is ensured, and the contact surface T can be designed to be small, and the configuration of the drone X can be made simple and lightweight.

In addition, the drone structure 13 can be made simple and lightweight because the drone structure 13 is configured in a frame shape by the slender rod-shaped bodies.

In addition, since the connecting portion 3 is configured in a frame shape by the slender rod-like bodies, it is possible to make the connecting portion 3 simple and lightweight.

In addition, since the elongated rod-shaped body is hollow, it is possible to further reduce the weight of the drone structure 13 and the connecting portion 3 .

In addition, since the conductor k that electrically connects the flight means 11 (motor section 11b) and the control means 12 is housed inside the slender rod-like body, damage to the conductor k is prevented, and the entire drone X is prevented from being damaged. It is possible to maintain a good appearance.

In addition, the sliding means m allows the operator to freely adjust the distance between the inspection device V and the wall surface W after positioning the inspection device V on the wall surface W together with the drone X.

Further, since the inspection device V is a drilling device for drilling the wall surface W, the drone X can perform a neutralization depth test by a drilling method.

It should be noted that the shapes, dimensions, etc., of the constituent members shown in the above-described embodiment are merely examples, and can be changed in various ways based on design requirements and the like.

For example, in the above embodiment, the drone X or the wall inspection system S is used for a neutralization depth test (destructive inspection) called a drilling method. Alternatively, a camera or a Schmidt hammer may be used.
In this case, the camera can be used for non-contact investigation by the infrared thermography method, and the Schmidt hammer can be used for contact investigation by the Schmidt hammer method.

X Drone 1 Drone Body 11 Flight Means 12 Control Means 13 Drone Structure 2 Abutting Part T Abutting Surface 3 Connecting Part V Inspection Device W Wall A Guide Wire B Wire Supporting Means C Separating Means Z Building G Standing Surface S Wall inspection system

Claims (10)

a drone body, a contact portion having a contact surface that contacts a predetermined wall surface, and a connecting portion that connects the drone body and the contact portion;
The drone main body has flight means, control means for controlling the flight means, and a drone structure provided with the flight means and the control means,
The abutting portion protrudes from the connecting portion so as to be disposed forward of the drone body,
The connecting portion is provided with an inspection device that performs a predetermined inspection operation on the wall surface,
The drone is configured such that the posture of the drone body is tilted obliquely downward when the entire contact surface is in contact with the wall surface. 2. The drone of claim 1, wherein the abutment surface is made of elastic material. A plurality of the contact surfaces are provided at intervals in the vertical direction,
3. A drone according to claim 1 or 2, wherein said plurality of contact surfaces are provided on the same plane. 4. The drone according to any one of claims 1 to 3, wherein the drone structure is configured in a frame-like manner by slender rod-shaped bodies. The drone according to any one of claims 1 to 4, wherein the connecting portion is configured in a frame-like manner by slender rod-shaped bodies. 6. A drone according to claim 4 or 5, wherein said elongated rod-like body is hollow. 7. The drone according to claim 6, wherein a conductor electrically connecting said flight means and said control means is accommodated inside said elongated rod-like body. The drone according to any one of claims 1 to 7, wherein the connecting portion is provided with sliding means for reciprocally sliding the inspection device in a direction substantially perpendicular to the surface direction of the wall surface. The drone according to any one of claims 1 to 8, wherein the inspection device is a drill device for drilling the wall surface. A drone according to any one of claims 1 to 9, a guide wire provided along the surface direction of the wall surface, and a wire support means for supporting the guide wire,
the drone is attached to the guide wire;
The wire support means has a winch device for unwinding and winding the guide wire,
The guide wire is stretched by the winch device,
The wall surface inspection system, wherein the drone is sandwiched between the guide wire and the wall surface by being pressed toward the wall surface by the tension of the guide wire stretched by the winch device.

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