JP5761062B2 - Magnetic body moving vehicle and air blowing control method - Google Patents

Description

  The present invention relates to a magnetic body moving vehicle that travels while adsorbing to a structure made of a magnetic body, and a blower control method for a blower provided in the vehicle.

  In nuclear power plants, thermal power plants, chemical plants, steel plants, various tanks, ships, etc., it is necessary to inspect the maintenance status of equipment and perform repair work as necessary. However, if the site where the repair work is performed is, for example, very uneven, steeply inclined, narrow, or high, it is difficult for the operator to approach and the work is performed efficiently. I can't. Further, depending on the work site, the worker may not be able to approach the work site from the viewpoint of safety.

  Therefore, in recent years, there has been proposed a magnetic body moving vehicle that is equipped with a work device and can travel while adsorbed on a road surface of a magnetic body structure made of a magnetic body. For example, in Patent Document 1, there are five or more body nodes that are rigid bodies arranged in parallel in the traveling direction of the vehicle, and four or more body members that support each body node so that the vehicle body nodes can be folded and unfolded. There is disclosed a magnetic mobile vehicle including a vehicle main body provided with a support shaft and six or more wheels having a magnetic force with the axle rotatably supported on the vehicle main body.

  The four or more support shafts arranged between the front end wheel and the rear end wheel of the magnetic mobile vehicle described in Patent Document 1 are arranged between the wheels on the outside of the wheel in the axial direction view. 1 and a second support shaft disposed inside the wheel. The second support shaft is a wheel other than the foremost wheel and the rearmost wheel (hereinafter referred to as the center wheel) as viewed in the axle direction. Two axles are provided on the inner side of the wheel), and the axles are provided at the foremost vehicle body node, the rearmost vehicle body node, and the vehicle body node between the second spindles arranged inside the same wheel. By adopting such a configuration, the magnetic vehicle can be stably mounted on the surface of the magnetic body having a steep inclination or on the surface of the magnetic body that is a sharply entering or exiting corner with the magnetic body moving vehicle adsorbed to the magnetic body. Can travel smoothly.

JP 2008-12947 A

  The surface (road surface) of a magnetic structure such as a steel structure has a curved surface, but most have a concavo-convex structure in which a rib plate is attached to a flat surface. In order to continuously inspect and photograph the surface of the magnetic structure, a magnetic mobile vehicle capable of magnetically adsorbing these irregularities, vertical surface, and bottom surface is effective. However, when passing through the corners of structures such as entering corners and exiting corners, if the magnetic attractive force decreases or the friction coefficient of the vertical and vertical surfaces is low, it may be difficult to perform adsorbing travel. there were.

  In addition, a magnetic vehicle is stable and freely movable when it is attracted to a flat object, but the risk of dropping cannot be eliminated when overcoming obstacles. On the other hand, a flying object such as a helicopter can be expected to perform a quick inspection operation without being obstructed by an obstacle, but has a problem in stability during long-time shooting and imaging. In particular, it is a big problem to have a possibility that a flying body will crash and cause damage to an object to be dropped.

  Therefore, the present invention has been made in view of the above problems, and an object of the present invention is to travel by attracting magnetic force continuously to the surface regardless of the surface shape of the magnetic structure. It is an object of the present invention to provide a new and improved magnetic vehicle and a method for controlling air flow of a blower provided in the vehicle.

In order to solve the above-described problems, according to an aspect of the present invention, four or more vehicle body nodes arranged in parallel in the traveling direction of the vehicle, and a vehicle body node that can be bent with respect to adjacent vehicle body nodes 3 Two or more support shafts, a vehicle body node at the front and rear ends of the vehicle, and a support shaft that flexibly connects the vehicle body nodes between them are provided so as to be orthogonal to the traveling direction of the vehicle . Wheels composed of at least three pairs of permanent magnets supported by the axle , a wheel drive unit for driving each wheel, a first rotary shaft extending in a direction perpendicular to the vehicle body section, and a second rotary shaft in the axle direction A magnetic body movement, comprising: at least one air blower that is rotatably provided and includes a blower that blows air, and a blower control unit that performs air blow control of the blower based on a posture state of the vehicle. A car is provided.

  The blower control unit may include a blower on / off switching unit that controls on / off of blown air by the blower and a blower direction changing unit that changes the blower direction of the blower.

  The air blowing direction changing unit may control the air blowing direction of the blower so that the vehicle is pressed against the road surface of the magnetic structure on which the vehicle travels by the blower of the blower.

Further, the air blowing direction changing unit may control the air blowing direction of the air blowing device so as to blow air vertically downward .

Further, the air blowing direction changing unit may control the air blowing direction of the air blowing device so as to blow air in an arbitrary angle direction between the vertically downward direction and the direction in which the vehicle is pressed against the road surface of the magnetic structure.

  The magnetic traveling vehicle of the present invention includes an attitude detection unit that detects the attitude of the blower, and the blowing direction changing unit of the blowing control unit controls the blowing direction of the blowing device based on the detection result of the attitude detection unit. May be.

  Furthermore, the magnetic traveling vehicle of the present invention is provided in front of the vehicle in the traveling direction, and is provided in front of the vehicle in the traveling direction, a floor detection sensor that detects whether or not a floor is present in the traveling direction of the vehicle, And a wall detection sensor that detects whether or not a wall exists in front of the traveling direction of the vehicle. At this time, a ventilation control part may perform ventilation control of an air blower based on the detection result of a floor detection sensor and a wall detection sensor.

Blower control unit, the floor is detected by the floor sensor, when the wall is not detected by Kabeken known sensors may be set not supplying air by the air supply device (e.g., when the plane running).

Further, the blower control unit, the floor is detected by the floor sensor, when the wall is detected by Kabeken known sensor, without supplying air by the air supply device, and causes the blowing direction of the blower to match the travel direction of the vehicle It is not necessary (for example, when traveling in a corner).

Furthermore, the blower control unit, the floor is not detected by the floor sensor, when the wall is not detected by Kabeken known sensor, an arbitrary angle between the traveling direction of the vertically lower side and the vehicle the blowing direction of the blower It may be set to (for example, when driving in a corner).

Further, when the vehicle runs upside down the vertical wall of the magnetic structure and changes direction by 180 ° , the air blowing control unit does not send air until the air blowing direction by the air blower becomes horizontal, and the air blowing direction is horizontal. You may be made to start ventilation, when it turns to a vertically downward direction.

  In addition, when the vehicle body section is bent toward the upper surface side of the vehicle body and the storage area of the blower device is reduced at a corner portion such as a corner of the vehicle, the blower control unit has a posture capable of storing the blower device in the reduced storage region. You may make it adjust the direction of an air blower so that it may become.

In order to solve the above-described problem, according to another aspect of the present invention, four or more vehicle body nodes arranged in parallel in the traveling direction of the vehicle and a vehicle body node that can be bent with respect to adjacent vehicle body nodes. Three or more support shafts to be supported, vehicle body nodes at the front and rear ends of the vehicle, and support shafts that connect the vehicle body nodes therebetween so as to bend so as to be orthogonal to the traveling direction of the vehicle. A wheel composed of at least three pairs of permanent magnets supported by a provided axle , a wheel drive unit for driving each wheel, a first rotation shaft extending in a direction perpendicular to the vehicle body section, and a second rotation in the axle direction A blower control method for a magnetic mobile vehicle, comprising: at least one blower provided with a blower that blows air around a shaft, and a blower controller that performs blower control of the blower. Based on the attitude state of the vehicle, the control unit And changes the blowing direction of the on-off and blower of the blower that, blowing control method is provided.

  As described above, according to the present invention, a magnetic vehicle that can travel while attracting magnetic force continuously to the surface regardless of the surface shape of the magnetic structure, and a blower provided in the magnetic vehicle. It is possible to provide a method for controlling air flow.

It is a schematic perspective view which shows the magnetic body moving vehicle which concerns on the 1st Embodiment of this invention. It is a block diagram which shows the structure of the ventilation control part which controls the air blower of the magnetic body moving vehicle which concerns on the embodiment. It is explanatory drawing which shows the state change of an attitude | position when the magnetic body moving vehicle which concerns on the same embodiment drive | works the entering corner of the vertical wall of a magnetic body structure. It is explanatory drawing which shows the state change of an attitude | position when the magnetic body moving vehicle which concerns on the embodiment drive | works the protruding corner of the vertical wall of a magnetic body structure. It is explanatory drawing which shows the state change of an attitude | position when the magnetic body moving vehicle which concerns on the same embodiment travels over the vertical wall of a magnetic body structure, changes its direction 180 degrees. It is explanatory drawing which shows the state change of an attitude | position when the magnetic body moving vehicle which concerns on the same embodiment reversely raises the vertical wall of a magnetic body structure, and changes the direction of 180 degrees. It is explanatory drawing which shows the state change of an attitude | position when the magnetic body moving vehicle which concerns on the same embodiment drive | works the 180 degrees protrusion corner of a magnetic body structure. It is a block diagram which shows the structure of the ventilation control part which controls the ventilation apparatus of the magnetic body moving vehicle which concerns on the 2nd Embodiment of this invention. It is a schematic perspective view which shows the other structural example of a magnetic body moving vehicle.

  Exemplary embodiments of the present invention will be described below in detail with reference to the accompanying drawings. In addition, in this specification and drawing, about the component which has the substantially same function structure, duplication description is abbreviate | omitted by attaching | subjecting the same code | symbol.

<1. First Embodiment>
[Configuration of magnetic vehicle]
First, with reference to FIG. 1, a schematic configuration of a magnetic mobile vehicle 100 according to a first embodiment of the present invention will be described. FIG. 1 is a schematic perspective view showing a magnetic vehicle 100 according to the present embodiment.

  The magnetic vehicle 100 according to the present embodiment has six wheels made of permanent magnets, and is a vehicle that travels on a magnetic body while being attracted to the magnetic structure 5. As shown in FIG. 1, the magnetic vehicle 100 is arranged in the connecting direction of the vehicle body sections 110 a to 110 d on the vehicle body constituted by connecting the four vehicle body sections 110 a to 110 d and the side portions of the vehicle body. It consists of three pairs of wheels 120a to 120f and blowers 130 and 150.

  The vehicle body sections 110a to 110d are rigid bodies that constitute the base of the vehicle. As shown in FIG. 1, the vehicle body sections 110a to 110d are arranged side by side in the traveling direction of the vehicle, and the bottom surfaces of the vehicle body sections 110a to 110d are flush with the vehicle placed on a horizontal plane. The vehicle body sections 110a to 110d are connected to each other by a support shaft (not shown). The number of support shafts is one less than the number of vehicle body nodes, and in this embodiment, three support shafts are provided. The support shaft rotatably supports the adjacent vehicle body sections 110a to 110d. Therefore, the vehicle body sections 110a to 110d connected by the support shaft can be relatively rotated around the support shaft. Thereby, the magnetic body moving vehicle 100 can bend the vehicle body. Although not shown in FIG. 1, a rotation restricting member that restricts the relative rotation range of the vehicle body sections 110a to 110d connected by the support shaft may be provided.

  The wheels 120a to 120f are wheels having a magnetic force. Each of the wheels 120a to 120f includes a magnet layer that is an annular permanent magnet and a friction layer that covers the surface of the magnet layer. For example, rubber or the like can be used as the friction layer, and is provided at least in a portion of the magnet layer that is in contact with the magnetic structure 5. The friction layer located on the surfaces of the wheels 120 a to 120 f is provided to generate friction between the wheels 120 a to 120 f and the magnetic structure 5. Thereby, the tangential force of the wheels 120a to 120f can be appropriately generated at the contact portion with the magnetic structure 5, and the torque from the geared motor (not shown) can be sufficiently transmitted, so that the wheels 120a to 120f can be transmitted. Can be prevented from slipping off from the magnetic structure 5. The friction coefficient μ between the magnetic body structure 5 and the friction layer can be set to about 0.1 to 0.9, for example. Further, as a material for covering the magnet layers of the wheels 120a to 120f, for example, silicon resin may be used in addition to rubber.

  An axle (not shown) is connected to the center of each of the wheels 120a to 120f, which serves as a center of rotation and rotates the wheels 120a to 120f with a driving force transmitted by a transmission gear described later. The axle protrudes in the extending direction of the support shaft connecting the vehicle body sections 110a to 110d. One end of the axle is engaged with a final gear arranged at the final stage of a transmission gear of a geared motor that is a drive mechanism including a motor that rotationally drives each of the wheels 120a to 120f and a transmission gear that transmits driving force. Wheels 120a to 120f are respectively attached to the other ends of the axles.

  The magnetic mobile vehicle 100 according to this embodiment may include three or more wheels 120a to 120f. When the magnetic body moving vehicle 100 travels through corners such as entering corners and exiting corners using the bending of the vehicle body sections 110a to 110d, the ground contact area of the wheels in contact with the corners is extremely reduced, and the attractive magnetic force is also reduced. Run short. For this reason, even if the one-to-two wheels at the corners drop off from the running surface, if the remaining two-to-four wheels or more wheels have adsorption power, the dropped one-to-two wheels And the gravity of the vehicle body node accompanying this can be kept, and the possibility that the fall of the whole vehicle body can be prevented beforehand can be increased.

  The wheels can be classified into front end wheels, rear end wheels, and intermediate wheels. At this time, although there are at least one pair of intermediate wheels, a support shaft for connecting the vehicle body nodes enters in the vicinity of the intermediate wheel, so that there are two or more vehicle body nodes arranged at positions where the intermediate wheels are provided. That is, the magnetic mobile vehicle 100 is configured such that the body node and the wheel satisfy the relationship of the following formula 1. Note that the number of wheel pairs is 3 or more.

  Number of vehicle nodes = 2 x (number of wheel pairs-1) (Equation 1)

  For example, when 3 to 6 wheels 120a to 120f are provided as in the present embodiment, the vehicle body section is 2 × (3-1) = 4 nodes, and when 5 to 10 wheels are provided, the body section is 2 X (5-1) = 8 clauses.

  The air blowers 130 and 150 are devices that blow air in order to obtain air flow reaction force, and can be configured by, for example, air blowers such as a blower, a fan, and a rotary blade. The 1st air blower 130 is provided with the two air blow parts 132 and 134 arrange | positioned in parallel, is supported by the support part 142 supported rotatably with respect to a vehicle body, and the 2nd air blower 150 is parallel. The two air-blowing parts 152 and 154 disposed on the vehicle body are supported by a support part 144 that is rotatably supported with respect to the vehicle body. The number of air blowing units provided in the air blowing devices 130 and 150 is not limited to two as in the present embodiment. For example, an even number of rotary air blowing units such as fans are arranged in parallel, The air flow direction may be half the first direction, and the other half may be the second direction opposite to the first direction so that the reaction due to the change in the rotational speed can be canceled.

  In the present embodiment, it is assumed that the first air blower 130 is disposed ahead of the second air blower 150 in the traveling direction of the vehicle body. The support portion 142 that supports the first blower device 130 is provided in the vehicle body section 110a, and the support portion 144 that supports the second blower device 150 is provided in the vehicle body section 110d. Each of the air blowers 130 and 150 blows air when the magnetic mobile vehicle 100 may fall from the magnetic structure 5. Utilizing the air reaction force caused by the air blowing, the magnetic body moving vehicle 100 is prevented from falling from the magnetic body structure 5. The detailed operation of the blowers 130 and 150 will be described later.

  In the magnetic mobile vehicle 100 having such a configuration, torque control of the wheels 120a to 120f is performed by a control device mounted on the magnetic mobile vehicle 100 or provided separately. As a result, the vehicle body can be bent, and the magnetic body structure 5 can pass through singular points such as entering corners, exiting corners, and vertical surfaces. In addition, the magnetic mobile vehicle 100 according to the present embodiment includes the air blowers 130 and 150 in order to prevent the magnetic mobile vehicle 100 from falling from the magnetic structure 5. By functioning these, it is possible to maintain the state in which the magnetic vehicle 100 is attracted to the road surface even when the vehicle body is easily separated from the road surface when moving the magnetic structure 5.

[Blower control of a magnetic vehicle when traveling on corners or vertical surfaces]
Hereinafter, based on FIGS. 2-6, the ventilation control when the magnetic mobile vehicle 100 which concerns on this embodiment drive | works a corner | angular part, such as an entrance corner and an exit corner, and a vertical surface is demonstrated.

(Function of the blower of the magnetic material moving vehicle)
Before describing the air blowing control of the air blowers 130 and 150 of the magnetic mobile vehicle 100 according to the present embodiment, first, the functions of the air blowers 130 and 150 will be described with reference to FIG. As described above, the air blowers 130 and 150 are provided in order to prevent the air blower 130 and 150 from dropping from the magnetic body structure 5 by using the air blow reaction force obtained by the air blow. The blowers 130 and 150 are provided so as to be capable of two-axis turning with respect to the vehicle body by the support portions 142 and 144. That is, as shown in FIG. 1, each of the blowers 130 and 150 can rotate around a rotation axis C1 parallel to the axle (rotating in the vertical direction) and rotate perpendicular to the vehicle body sections 110a and 110d. It can rotate around the axis C2 as a center of rotation (turning in the left-right direction). Note that the support portions 142 and 144 of the blower devices 130 and 150 may be turned only by one axis. In this case, if the turn can be made to the rotation axis C2 (left and right turn), the ability to adjust the direction of the blowing reaction force is further improved. It is advantageous because many can be used.

  The on / off switching of the blowing by the blowing devices 130 and 150 and the blowing direction are performed by the blowing control unit 170 shown in FIG. The air blowing control unit 170 includes a air blowing on / off switching unit 172 that switches on and off the air blowing of the air blowing devices 130 and 150, and a air blowing direction changing unit 174 that changes the air blowing direction. Each functional unit of the air blow control unit 170 is based on the detection results of the first posture detection unit 162 that detects the posture state of the first blower device 130 and the second posture detection unit 164 that detects the posture state of the second blower device 150. Function.

  The blower on / off switching unit 172 determines the possibility that the magnetic mobile vehicle 100 may drop based on the detection results of the first posture detection unit 162 and the second posture detection unit 164. Starts air blowing (air blowing on). If there is no possibility of the magnetic mobile vehicle 100 falling even if there is no air flow reaction force due to the air flow from the air blowers 130 and 150, air blow by the air blowers 130 and 150 is not performed (air blow off).

  The air blowing direction changing unit 174 changes the air blowing direction of the air blowing devices 130 and 150 in order to obtain the air blowing reaction force necessary to prevent the magnetic mobile vehicle 100 from falling. The air blowing direction changing unit 174 changes the air blowing direction by rotating the support portions 142 and 144 with the first rotation axis C1 and the second rotation axis C2 as the rotation centers. The first rotation axis C1 is an axis extending in a direction perpendicular to the vehicle body node, and the second rotation axis C2 is an axis extending in the axle direction.

  When the blowing direction changing unit 174 determines the blowing direction based on the required blowing reaction force, the blowing direction changing unit 174 drives a turning drive unit (not shown) that turns the blowing units 130 and 150 with respect to the support units 142 and 144. The air blowers 130 and 150 are turned. Or the ventilation direction change part 174 changes the rotation speed of each ventilation part in the two ventilation parts 132 and 134 which comprise the 1st ventilation apparatus 130, and the two ventilation parts 152 and 154 which comprise the 2nd ventilation apparatus 150. In other words, the air blowing devices 130 and 150 may be swung with different air blowing amounts. Thereby, it is not necessary to provide a turning drive part separately, and the energy consumption which the magnetic body moving vehicle 100 hold | maintains can be reduced.

  The blowing direction of the blowing devices 130 and 150 is a direction in which the blowing reaction force becomes the antigravity direction. For this reason, the magnetic mobile vehicle 100 according to the present embodiment is provided with posture detection units 162 and 164 for grasping the relationship between the air blowers 130 and 150 and the direction of gravity. The first posture detection unit 162 detects the posture state of the blower device 130, and the second posture detection unit 164 detects the posture state of the blower device 150. As the attitude | position detection parts 162 and 164, an inclination sensor and an acceleration sensor can be used, for example. The air blowing direction changing unit 174 monitors the change in the posture state of the vehicle body by the posture detecting units 162 and 164 while the magnetic vehicle 100 is moving or changing the posture, and the blowing reaction force is changed to antigravity based on the detection result. The air blowers 130 and 150 are turned so as to be in the direction. However, even if there is a difference of approximately 20 to 30 degrees in the coincidence between the airflow reaction force direction and the antigravity direction, it is effective in conformity with the object of the present invention, and the attitude detection units 162 and 164, the airflow change unit The operation accuracy of 174 is sufficient for general-purpose equipment, and it can be said that the application range of the present invention is wide.

  The air blowing control unit 170 stops the air blowing by the air blowing devices 130 and 150 in a posture state where there is no fear of the magnetic mobile vehicle 100 falling due to gravity. On the other hand, when traveling on corners, vertical surfaces, etc., there is a possibility that the magnetic mobile vehicle 100 may drop, so that the air blowing by the air blowers 130 and 150 is turned on. In other words, the air blow control unit 170 controls the air blowers 130 and 150 so as to obtain a blow reaction force mainly in a direction against gravity with respect to the magnetic mobile vehicle 100 that may drop due to gravity as a driving force of the fall. . In addition, depending on the attitude and movement of the magnetic body moving vehicle 100, the magnetic body moving vehicle 100 may be separated from the traveling surface due to centrifugal force. In this case, the air blow control unit 170 causes the magnetic body moving vehicle 100 to move away from the traveling surface. The air blowers 130 and 150 are controlled so as to generate a force in a direction of pressing against the traveling surface. At this time, the air blowers 130 and 150 generate a force so as to be directed between the anti-gravity direction and the direction toward the traveling surface, thereby reducing a part of the air reaction force as the centrifugal force canceling direction and reducing the gravity. The magnetic vehicle 100 is pressed against the traveling surface.

  Considering the state of the traveling surface of the magnetic body moving vehicle 100, when the traveling surface of the magnetic body moving vehicle 100 is a flat surface, it is not necessary to cause the blowers 130 and 150 to function because the possibility of falling is low. Moreover, when driving | running | working a corner, the storage area of the air blowers 130 and 150 will reduce because the vehicle body nodes 110a-110d bend. In this case, the air blowing control unit 170 adjusts the direction of the air blowing devices 130 and 150 so that the air blowing devices 130 and 150 do not interfere with traveling while preventing the vehicle body from falling. Further, when traveling in the corner, the air blow control unit 170 has a high possibility of the vehicle body falling, so that the air blowers 130 and 150 are directed in the direction to be blown so that the air blowers 130 and 150 can immediately assist. Adjust the direction of.

  In addition, the air blowers 130 and 150 are lightweight, and the weight load with respect to the magnetic body moving vehicle 100 is not large. For this reason, it is not necessary to always obtain a blowing reaction force by the blowers 130 and 150, and since the blowers 130 and 150 consume a large amount of energy in a short time, the magnetic body moving vehicle 100 drops off from the magnetic body structure 5. It is only necessary to function so as to obtain a blast reaction force at the moment when it is done. Hereinafter, specific air blow control by the air blow control unit 170 will be described.

(A. Running at the corner of the vertical wall)
Based on FIG. 3, the ventilation control of the air blowers 130 and 150 when the magnetic vehicle 100 according to the present embodiment travels in the corner of the vertical wall of the magnetic structure 5 will be described. FIG. 3 shows a posture state when the magnetic vehicle 100 according to the present embodiment travels in the corner of the magnetic structure 5 where the wall surfaces 5a and 5b parallel to the vertical direction form an angle of about 90 °. It is explanatory drawing which shows a change. In addition, Table 1 below shows the presence / absence of air blowing and the air blowing direction of the first blower 130 and the second blower 150 in each state of the magnetic mobile vehicle 100 shown in FIG. Further, the direction of the vehicle body indicates the traveling direction of the magnetic mobile vehicle 100, and the horizontal direction is when the traveling direction is orthogonal to the direction of gravity.

  In FIG. 3, when the wall 5a is moving toward the corner (state 1), the magnetic vehicle 100 is running in the horizontal direction. At this time, the air blowing units 132, 134, and 152, 154 of the first air blowing device 130 and the second air blowing device 150 are in a state in which air can be blown vertically downward. At this time, the wheels 120a to 120f are in a state of reliably contacting the road surface, so the possibility of dropping is low. Therefore, the air blowing on / off switching unit 172 turns off the air blowing devices 130 and 150.

  Next, when the front end of the vehicle reaches the corner (state 2), the air blowing direction changing unit 174 is a first air blower 130 provided in front of the vehicle in order to avoid interference between the air blowing units in the bent vehicle body. And the air blowing parts 132 and 134 are directed so as to be parallel to the wall surface 5a (that is, in the x direction). On the other hand, the air blowers 152 and 154 of the second air blower 150 are in the vertically downward state in the state 1. Also in the state 2, the air blowing on / off switching unit 172 turns off the air blowing devices 130 and 150.

  Further, when the first air blower 130 passes through the corner and moves to the wall surface 5b, and the second air blower 150 is about to reach the corner (state 3), the air blowing direction changing unit 174 is the second The blower 150 is turned, and the blowers 152 and 154 are directed so as to be parallel to the wall surface 5a (that is, in the x direction). On the other hand, the air blowing units 132 and 134 of the first air blower 130 remain in the state 2 and face the horizontal direction. Since the 1st air blower 130 has moved to the wall surface 5b side at this time, the ventilation direction is the y direction. Even in the state 3, the air blowing on / off switching unit 172 turns off the air blowing devices 130 and 150.

  Thereafter, when the rear end portion of the vehicle also passes through the corner and the second blower 150 also moves to the wall surface 5b side (state 4), the blowing direction changing unit 174 turns the first blowing device 130 to turn the blowing unit 132. , 134 is set vertically downward. Also in the state 4, the air blowing on / off switching unit 172 turns off the air blowing devices 130 and 150.

  In the example shown in FIG. 3, since the possibility that the magnetic vehicle 100 falls from the magnetic structure 5 is low, each of the air blowers 130 and 150 is normally turned off. However, as described above, the blowers 130 and 150 can be blown according to the travel location so that the necessary blow reaction force can be obtained immediately when there is a possibility of falling due to disturbance or the road surface condition. The direction is changed. In this way, the magnetic mobile vehicle 100 can be prevented from falling.

(B. Running at the corner of the vertical wall)
Next, based on FIG. 4, the air blow control of the air blowers 130 and 150 when the magnetic vehicle 100 according to the present embodiment travels at the corner of the vertical wall of the magnetic structure 5 will be described. FIG. 4 shows a posture state when the magnetic vehicle 100 according to the present embodiment travels at the corner of the magnetic structure 5 where the wall surfaces 5a and 5b parallel to the vertical direction form an angle of about 90 °. It is explanatory drawing which shows a change. In addition, Table 2 below shows whether the first blower 130 and the second blower 150 in each state of the magnetic vehicle 100 shown in FIG.

  In FIG. 4, when the wall surface 5a is moving toward the exit corner (state 1), the magnetic vehicle 100 is running in the horizontal direction. At this time, the air blowing units 132, 134, and 152, 154 of the first air blowing device 130 and the second air blowing device 150 are in a state in which air can be blown vertically downward. At this time, the wheels 120a to 120f are in a state of reliably contacting the road surface, so the possibility of dropping is low. Therefore, the air blowing on / off switching unit 172 turns off the air blowing devices 130 and 150.

  Next, when the front end of the vehicle reaches the exit corner (state 2), the air blowing direction changing unit 174 turns the first air blowing device 130 provided in front of the vehicle and moves from the vertical direction to the traveling direction by about 45. The air blowing parts 132 and 134 are directed so as to be inclined. On the other hand, the air blowers 152 and 154 of the second air blower 150 are in the vertically downward state in the state 1. In state 2, the front end of the vehicle is likely to drop off from the road surface. Therefore, the blower on / off switching unit 172 turns on the blower of the first blower 130. The vehicle is pressed against the magnetic structure 5 side by the air reaction force obtained by the air blow of the first blower device 130, and the fall of the magnetic structure 5 can be suppressed. In addition, since the wheels 120c to 120f are in reliable contact with the road surface, the ventilation of the second blower 150 may remain off.

  Further, when the first blower device 130 passes through the exit corner and moves to the wall surface 5b (state 3), and then the second blower device 150 is about to reach the exit corner (state 4), the blowing direction is changed. The part 174 turns the second air blowing device 150 and directs the air blowing parts 152 and 154 so as to be inclined by about 45 ° from the vertical direction toward the traveling direction. The air blowing units 132 and 134 of the first air blower 130 are also in a state of being inclined by about 45 ° from the vertical direction toward the traveling direction in the state 2. At this time, since the rear end portion of the vehicle also easily falls from the magnetic structure 5, the air blowing on / off switching unit 172 also turns on the air blowing of the second air blower 150.

  While the rear end of the vehicle passes through the protruding corner, when the wheels 120a to 120d in front of the vehicle move to the wall surface 5b (state 5), the wheels 120a to 120d reliably come into contact with the wall surface 5b and can fall. Low. Therefore, the air blowing on / off switching unit 172 turns off the air blowing of the first air blowing device 130. At this time, in preparation for the possibility of a sudden drop, the blowing direction changing unit 174 causes the blowing direction of the blowing units 132 and 134 of the first blowing device 130 to be vertically downward.

  Thereafter, when the second blower 150 also moves to the wall surface 5b side (state 6), the possibility of the vehicle falling is reduced, so the blower on / off switching unit 172 turns off the blower of the second blower 150. And the ventilation direction change part 174 turns the 2nd ventilation apparatus 150 similarly to the 1st ventilation apparatus 130, and makes the ventilation direction of the ventilation parts 152 and 154 vertically downward.

(C. Traveling over a vertical wall)
Next, based on FIG. 5, about the ventilation control of the air blowers 130 and 150 when the magnetic body moving vehicle 100 according to the present embodiment travels over the vertical wall of the magnetic body structure 5 and changes its direction by 180 °. explain. FIG. 5 is an explanatory view showing a change in posture state when the magnetic vehicle 100 according to the present embodiment travels over the vertical wall of the magnetic structure 5 and changes its direction by 180 °. In addition, Table 3 below shows the presence / absence of air blowing and the air blowing direction of the first blower 130 and the second blower 150 in each state of the magnetic vehicle 100 shown in FIG.

  In FIG. 5, when the wall surface 5a (surface on the x-axis positive direction side) is moving vertically upward (state 1), the vehicle body of the magnetic mobile vehicle 100 is traveling vertically upward. At this time, the air blowing units 132, 134, and 152, 154 of the first air blowing device 130 and the second air blowing device 150 are in a state in which air can be blown vertically downward. At this time, the wheels 120a to 120f are in a state of reliably contacting the road surface, so the possibility of dropping is low. Therefore, the air blowing on / off switching unit 172 turns off the air blowing devices 130 and 150.

  Next, when the front end of the vehicle reaches the exit corner (state 2), the blower on / off switching unit 172 turns on the first blower 130 and blows it in the horizontal direction. The magnetic moving vehicle 100 is prevented from falling when it gets over the magnetic structure 5 by the air blow reaction force. In addition, since the wheels 120c to 120f are in reliable contact with the road surface, the ventilation of the second blower 150 may remain off.

  When the wheels 120a and 120b move to the wall surface 5b (surface on the x-axis negative direction side) (state 3), the possibility of the magnetic mobile vehicle 100 dropping is reduced, so the air blow on / off switching unit 172 includes the first air blower. Turn off the airflow of 130. And the ventilation direction change part 174 is rotated so that the ventilation direction of the ventilation parts 132 and 134 of the 1st air blower 130 becomes the vertically downward direction. Thereby, even if the possibility of a sudden fall arises, the fall of a vehicle can be suppressed using a ventilation reaction force by turning on ventilation. On the other hand, the air blowers 152 and 154 of the second air blower 150 are in the vertically downward state in the state 1.

  Further, after the first air blower 130 passes through the exit corner and moves to the wall surface 5b, when the second air blower 150 is about to reach the exit corner (state 4), the air blow on / off switching unit 172 2 Air blower 150 is turned on and blows vertically downward. The magnetic moving vehicle 100 is prevented from falling when it gets over the magnetic structure 5 by the air blow reaction force. The first blower 130 remains in the state 3 and the blower is off.

  Then, only the wheels 120e and 120f remain on the wall surface 5a side, and when the vehicle is almost over the magnetic body structure 5 (state 5), the possibility that the magnetic body moving vehicle 100 will drop is reduced. The on / off switching unit 172 also turns off the blowing of the second blowing device 150. At this time, in preparation for the possibility of a sudden drop, the air blowing direction changing unit 174 turns so that the air blowing directions of the air blowing units 152 and 154 of the second blower device 150 are horizontal. Thereafter, when all the vehicles move to the wall surface 5b side (state 6), the air blowing direction changing unit 174 turns so that the air blowing directions of the air blowing units 152 and 154 of the second blower 150 are vertically downward.

(D. Vertical wall running upside down)
Next, based on FIG. 6, the blower control of the blower units 130 and 150 when the magnetic vehicle 100 according to the present embodiment travels upside down the vertical wall of the magnetic structure 5 and changes its direction by 180 °. Will be described. FIG. 6 is an explanatory view showing a change in posture state when the magnetic vehicle 100 according to the present embodiment travels upside down the vertical wall of the magnetic structure 5 and changes its direction by 180 °. In addition, Table 4 below shows the presence / absence of blowing and the blowing direction of the first blower 130 and the second blower 150 in each state of the magnetic mobile vehicle 100 shown in FIG.

  In FIG. 6, when the wall surface 5a (the surface on the x-axis positive direction side) is moving vertically downward (state 1), the body of the magnetic body moving vehicle 100 is traveling vertically upward. At this time, the air blowing units 132, 134, and 152, 154 of the first air blowing device 130 and the second air blowing device 150 are in a state in which air can be blown vertically downward. At this time, the wheels 120a to 120f are in a state of reliably contacting the road surface, so the possibility of dropping is low. Therefore, the air blowing on / off switching unit 172 turns off the air blowing devices 130 and 150.

  Next, when the front end of the vehicle reaches the exit corner (state 2), the blower on / off switching unit 172 turns on the first blower 130 and blows it in the horizontal direction. This prevents the magnetic vehicle 100 from falling when the magnetic structure 5 is raised upside down by the airflow reaction force. In addition, since the wheels 120c to 120f are in reliable contact with the road surface, the ventilation of the second blower 150 may remain off.

  After the wheels 120a and 120b move to the wall surface 5b (surface on the x-axis negative direction side) (state 3), and after the first blower device 130 passes through the exit corner and moves to the wall surface 5b, the second blower device 150 is moved. Until the air is about to reach the exit corner (state 4), the first air blower 130 blows vertically downward air. The ventilation of the second blower 150 remains off.

  Then, only the wheels 120e and 120f remain on the wall surface 5a side, and when the vehicle is almost over the magnetic body structure 5 (state 5), the possibility that the magnetic body moving vehicle 100 will drop is reduced. The on / off switching unit 172 turns off the ventilation of the first blower 130. On the other hand, the air blowing direction changing unit 174 turns so that the air blowing directions of the air blowing units 152 and 154 of the second air blowing device 150 are horizontal, and the air blowing on / off switching unit 172 turns on the air blowing of the second air blowing device 150. To do. This prevents the magnetic vehicle 100 from falling when the magnetic structure 5 is raised upside down by the airflow reaction force.

  Thereafter, when all the vehicles move to the wall surface 5b side (state 6), the air blowing direction changing unit 174 turns so that the air blowing directions of the air blowing units 152 and 154 of the second blower 150 are vertically downward. At this time, the second blower 150 continues to blow.

(E. Travel at the corner of the vertical wall (180 °))
Next, based on FIG. 7, the air blow control of the air blowers 130 and 150 when the magnetic vehicle 100 according to the present embodiment travels through the 180 ° corner of the vertical wall of the magnetic structure 5 will be described. . FIG. 7 is an explanatory diagram showing a change in posture state when the magnetic vehicle 100 according to the present embodiment travels through the 180 ° corner of the magnetic structure 5. In addition, Table 5 below shows the presence / absence of blowing and the blowing direction of the first blower 130 and the second blower 150 in each state of the magnetic vehicle 100 shown in FIG.

  When the angle of the protruding corner is 180 °, the same air blowing control as that in the case where the angle of the protruding corner described with reference to FIG. 4 is 90 ° is performed. That is, in FIG. 7, when the wall 5a is moving toward the corner (state 1), the magnetic vehicle 100 is running in the horizontal direction. At this time, the air blowing units 132, 134, and 152, 154 of the first air blowing device 130 and the second air blowing device 150 are in a state in which air can be blown vertically downward. At this time, the wheels 120a to 120f are in a state of reliably contacting the road surface, so the possibility of dropping is low. Therefore, the air blowing on / off switching unit 172 turns off the air blowing devices 130 and 150.

  Next, when the front end of the vehicle reaches the exit corner (state 2), the air blowing direction changing unit 174 turns the first air blowing device 130 provided in front of the vehicle and moves from the vertical direction to the traveling direction by about 45. The air blowing parts 132 and 134 are directed so as to be inclined. On the other hand, the air blowers 152 and 154 of the second air blower 150 are in the vertically downward state in the state 1. In state 2, the front end of the vehicle is likely to drop off from the road surface. Therefore, the blower on / off switching unit 172 turns on the blower of the first blower 130. While the gravity force to the vehicle is eased by the blowing reaction force obtained by the blowing of the first blower device 130, the vehicle is pressed against the magnetic body structure 5 side, and the fall of the magnetic body structure 5 is suppressed. it can. In addition, since the wheels 120c to 120f are in reliable contact with the road surface, the ventilation of the second blower 150 may remain off.

  Further, when the first blower device 130 passes through the exit corner and moves to the wall surface 5b (state 3), and then the second blower device 150 is about to reach the exit corner (state 4), the blowing direction is changed. The part 174 turns the second air blowing device 150 and directs the air blowing parts 152 and 154 so as to be inclined by about 45 ° from the vertical direction toward the traveling direction. The air blowing units 132 and 134 of the first air blower 130 are also in a state of being inclined by about 45 ° from the vertical direction toward the traveling direction in the state 2. At this time, since the rear end portion of the vehicle also easily falls from the magnetic structure 5, the air blowing on / off switching unit 172 also turns on the air blowing of the second air blower 150.

  While the rear end of the vehicle passes through the protruding corner, when the wheels 120a to 120d in front of the vehicle move to the wall surface 5b (state 5), the wheels 120a to 120d reliably come into contact with the wall surface 5b and can fall. Low. Therefore, the air blowing on / off switching unit 172 turns off the air blowing of the first air blowing device 130. At this time, in preparation for the possibility of a sudden drop, the blowing direction changing unit 174 causes the blowing direction of the blowing units 132 and 134 of the first blowing device 130 to be vertically downward.

  Thereafter, when the second blower 150 also moves to the wall surface 5b side (state 6), the possibility of the vehicle falling is reduced, so the blower on / off switching unit 172 turns off the blower of the second blower 150. And the ventilation direction change part 174 turns the 2nd ventilation apparatus 150 similarly to the 1st ventilation apparatus 130, and makes the ventilation direction of the ventilation parts 152 and 154 vertically downward.

  Heretofore, the configuration of the magnetic vehicle 100 according to the present embodiment and the air blowing control of the air blowing devices 130 and 150 provided thereon have been described. The magnetic vehicle 100 according to the present embodiment causes the air blowers 130 and 150 to function in a posture state where the vehicle is likely to fall from the magnetic structure 5, and presses the vehicle against the magnetic structure 5. Or, the blast reaction force in the direction opposite to the direction of gravity is obtained. It is possible to prevent the vehicle from falling from the magnetic body structure 5 by this air flow reaction force.

<2. Second Embodiment>
Next, based on FIG. 8, the structure of the magnetic mobile vehicle 100 which concerns on the 2nd Embodiment of this invention and the ventilation control of the air blowers 130 and 150 provided in this are demonstrated. The configuration of the magnetic vehicle 100 according to the present embodiment is basically the same as that shown in FIG. 1, and further includes a floor detection sensor 182 that detects the presence of a floor, a wall detection sensor 184 that detects the presence of a wall, and It differs in that it is equipped with. The floor detection sensor 183 is provided in front of the vehicle in the traveling direction (for example, the vehicle body section 110a), and detects whether or not a floor is present at a place where the vehicle is about to travel. The wall detection sensor 184 is also provided in front of the vehicle in the traveling direction (for example, the vehicle body section 110a), and detects whether or not a wall exists in the traveling direction of the vehicle. By using these sensors 182, 184, it is possible to recognize whether the place where the magnetic mobile vehicle 100 travels is an entry corner, an exit corner, or the like.

  In FIG. 8, the structure of the function part relevant to the ventilation control of the magnetic body moving vehicle 100 which concerns on this embodiment is shown. As shown in FIG. 8, in addition to the detection results of the first posture detection unit 162 and the second posture detection unit 164, the air blow control unit 170 of the magnetic vehicle 100 according to the present embodiment includes a floor detection sensor 182 and a wall. The blower devices 130 and 150 are also controlled using the detection result of the detection sensor 184.

  Specifically, the air blowing control unit 170 directs the air blowing direction of the air blowers 130 and 150 downward in the vertical direction regardless of the direction of the vehicle body detected by the posture detection units 162 and 164. Do not blow. It can be recognized that the running surface is a plane when the floor detection sensor 182 detects that there is a floor and the wall detection sensor 184 detects that there is no wall. When traveling on a flat surface, the adsorptive power of the wheels 120a to 120f on the road surface is high, and the possibility that the vehicle falls from the magnetic structure 5 is low. In this way, when there is a sufficient adsorbing force, energy is saved without blowing by the blowing devices 130 and 150.

  Further, as shown in FIG. 3, the air blowing control unit 170 makes the air blowing direction of the air blowing devices 130 and 150 orthogonal to the traveling direction of the vehicle body when the vehicle is entering the corner. At this time, ventilation is not performed. It can be recognized that the traveling surface is a corner when the floor detection sensor 182 detects that there is a floor and the wall detection sensor 184 detects that there is a wall. This is performed in order to store the air blowers 130 and 150 because the upper space of the vehicle in which the air blowers 130 and 150 and the like are provided becomes narrow at the corner.

  Further, as shown in FIG. 4 and FIG. 7, the air blowing control unit 170 directs the air blowing direction of the air blowing devices 130 and 150 between the vertically lower side and the traveling direction when the vehicle is entering the exit corner. When the vertically lower side and the traveling direction coincide with each other, the air blowing direction is vertically downward. It can be recognized that the running surface is a corner when the floor detection sensor 182 detects that there is no floor and the wall detection sensor 184 detects that there is no wall. This is done to assist weight compensation and close contact with the corners.

  In addition, when the vehicle is entering the exit corner, in order for the traveling direction of the vehicle to change by 120 ° or more, the air is not blown until the air blowing direction of the air blowers 130 and 150 becomes horizontal, and the air blowing direction slightly changes from the horizontal. But if it turns down vertically, it blows. For example, when entering the exit corner downward as shown in FIG. Thereby, compensation of weight and adhesion to the corner angle can be assisted.

  As described above, the magnetic vehicle 100 according to the present embodiment can recognize the state of the traveling road surface based on the detection results of the floor detection sensor 182 and the wall detection sensor 184, and the air blower 130 according to the state. , ON / OFF of the blowing of 150, and the blowing direction are changed. Thereby, in the place where there is a possibility of dropping from the magnetic body structure 5, it is possible to obtain the assisting force by blowing air and prevent the dropping. In addition, when the travel space is limited, such as a corner, it is possible to change the support state of the air blowers 130 and 150 so that the vehicle can travel smoothly.

<3. Modification>
Although the magnetic mobile vehicle 100 according to the embodiment includes the two air blowers 130 and 150, the present invention is not limited to such an example. For example, as shown in FIG. 9, the magnetic mobile vehicle 200 may include only one blower 150.

  The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to such examples. It is obvious that a person having ordinary knowledge in the technical field to which the present invention pertains can come up with various changes or modifications within the scope of the technical idea described in the claims. Of course, it is understood that these also belong to the technical scope of the present invention.

  For example, a drop detection sensor (not shown) that detects that at least one of the wheels 120a to 120f has dropped may be provided in the magnetic mobile vehicles 100 and 200 according to the above embodiment. When one of the wheels 120a to 120f is detected as being dropped by the drop detection sensor, the blower control unit 170 is blown by the blowers 130 and 150 within a predetermined time (for example, within 0.1 to 0.3 seconds) from the detection. You may make it output the largest ventilation volume which can be sent. Thereby, when the possibility of the unexpected fall generate | occur | produces, the fall of the magnetic body moving vehicles 100 and 200 can be suppressed. Moreover, if it is found that the drop-off is avoided by the drop-off detection sensor, the energy of the vehicle can be saved by stopping the air blowers 130 and 150, and the operation can be continued smoothly.

DESCRIPTION OF SYMBOLS 5 Magnetic body structure 100 Magnetic body moving vehicle 110a-110d Vehicle body node 120a-120f Wheel 130,150 Air blower 132,134,152,154 Air blower 142,144 Support part 162 1st attitude | position detection part 164 2nd attitude | position detection part 170 Blower control unit 172 Blower on / off switching unit 174 Blower direction changing unit 182 Floor detection sensor 184 Wall detection sensor

Claims (13)

Four or more body nodes arranged side by side in the traveling direction of the vehicle,
Three or more support shafts that support the vehicle body section so that it can be bent with respect to the adjacent vehicle body section;
The vehicle body node at the front end and the rear end of the vehicle, and the support shaft that connects the vehicle body node therebetween to bendable are supported by an axle provided to be orthogonal to the traveling direction of the vehicle. a wheel consisting of at least three or more pairs of permanent magnets that,
A wheel drive unit for driving each wheel;
At least one air blower provided with a blower unit that is rotatably provided around a first rotary shaft extending in a direction perpendicular to the vehicle body node and a second rotary shaft in the axle direction;
A blower control unit for performing blower control of the blower based on the posture state of the vehicle;
A magnetic material moving vehicle comprising: The air blowing control unit
A blower on / off switching unit for controlling on / off of blown air by the blower;
A blowing direction changing unit for changing a blowing direction of the blowing device;
The magnetic mobile vehicle according to claim 1, comprising:   The air blowing direction changing unit controls the air blowing direction of the air blower so that the vehicle is pressed against a road surface of a magnetic structure on which the vehicle travels by air blown by the air blower. 2. A magnetic vehicle according to 2. The magnetic body moving vehicle according to claim 2, wherein the air blowing direction changing unit controls the air blowing direction of the air blowing device so as to blow vertically downward . The blowing direction changing unit controls the blowing direction of the blowing device so as to blow in an arbitrary angle direction between a vertically downward direction and a direction in which the vehicle is pressed against the road surface of the magnetic structure. The magnetic body moving vehicle according to claim 2. An attitude detection unit for detecting the attitude of the blower;
The said ventilation direction change part of the said ventilation control part controls the ventilation direction of the said air blower based on the detection result of the said attitude | position detection part, The any one of Claims 2-5 characterized by the above-mentioned. Magnetic body moving vehicle. A floor detection sensor that is provided in front of the vehicle in the traveling direction and detects whether or not a floor exists in front of the vehicle in the traveling direction;
A wall detection sensor provided in front of the traveling direction of the vehicle and detecting whether or not a wall exists in front of the traveling direction of the vehicle;
Further comprising
The said ventilation control part performs ventilation control of the said air blower based on the detection result of the said floor detection sensor and the said wall detection sensor, The magnetic of any one of Claims 1-6 characterized by the above-mentioned. Body moving car. The blowing control unit, the floor is detected by the floor sensor when is not detected walls by the walls detection known sensor, characterized in that it does not perform the blowing by the blower, magnetic body according to claim 7 Moving car. The blowing control unit, the floor is detected by the floor sensor, when the wall is detected by said wall detection known sensor, without blowing by the blower, and the traveling direction of the vehicle the blowing direction of the blower 9. The magnetic vehicle according to claim 7, wherein the vehicle is not matched with the vehicle. The blowing control unit, the floor is not detected by the floor sensor, when the wall by the wall biopsy knowledge sensor does not detect any between the traveling direction of the vertically lower side and the vehicle the blowing direction of the blower The magnetic body moving vehicle according to any one of claims 7 to 9, wherein the angle is set to an angle of. When the vehicle runs upside down the vertical wall of the magnetic structure and changes direction by 180 ° , the air blowing control unit does not blow air until the air blowing direction by the air blowing device becomes horizontal, and the air blowing direction is horizontal. The magnetic vehicle according to claim 10, wherein the air blower starts when the vehicle turns vertically downward.   When the vehicle body is bent toward the upper surface of the vehicle body at the corner portion of the vehicle and the storage area of the blower device is reduced, the blower control unit is configured so that the blower device can be stored in the reduced storage region. The magnetic moving vehicle according to any one of claims 1 to 11, wherein a direction of the blower is adjusted. There are four or more body nodes arranged in parallel in the traveling direction of the vehicle, three or more support shafts that support the body nodes so that they can be bent with respect to the adjacent body nodes, and at the front and rear ends of the vehicle. At least three pairs or more of permanent magnets supported by the axle provided so as to be orthogonal to the traveling direction of the vehicle, on the vehicle body joint and the support shaft that bendably connects the vehicle body joint therebetween. A wheel that drives each of the wheels, and an air blower that is rotatably provided around a first rotating shaft that extends in a direction perpendicular to the vehicle body node and a second rotating shaft in the axle direction. A blower control method for a magnetic vehicle, comprising: at least one blower provided with a portion; and a blower control unit that performs blower control of the blower,
The blower control method, wherein the blower control unit changes on / off of blown air by the blower and a blower direction of the blower based on a posture state of a vehicle.

Images