JP7007679B1 - Drone and wall work system using it - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a drone capable of easily performing a work using a brush on a wall surface with a simple configuration, and a wall surface work system using the drone. SOLUTION: The drone main body 1 is provided with a drone main body 1, a wheel portion 2 configured to be rotatable with respect to a predetermined wall surface W, and a connecting portion 3 for connecting the drone main body 1 and the wheel portion 2. Has a flight means 11, a control means 12 for controlling the flight means 11, and a drone configuration 13 provided with the flight means 11 and the control means 12, and the wheel portions 2 are spaced apart from each other in the vertical direction. A plurality of brushes K are provided so as to project from the connecting portion 3 so as to be arranged in front of the drone main body 1, and the connecting portion 3 is provided with a brush K that abuts on the wall surface W together with the wheel portion 2, and the plurality of wheel portions are provided. The posture of the drone main body 1 is configured to be an inclined posture toward an oblique downward direction in a state where the two are in contact with the wall surface W at the same time. [Selection diagram] Fig. 1

Description

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

In recent years, drones have become widespread worldwide due to the development of technologies such as smartphones and the Internet. A drone is an aircraft that can fly unmanned by remote control or automatic control, and is also called a multicopter.

The drone can be used for aerial photography and inspection in a range that is difficult to carry out by human power alone, such as the outer wall of a high-rise building, using a camera and inspection equipment installed in advance.

By the way, when the drone is used for such a purpose, it is necessary to devise to maintain a stable flight position so that the drone does not move away from the target outer wall due to the influence of the weather or a steering error.

On the other hand, the present inventors have proposed an outer wall inspection system shown in Patent Document 1 and Patent Document 2.

In these exterior wall inspection systems, the inspection device connected to the drone is connected to the guide wire extending from the rooftop of the building or the vertical surface of the building, and the inspection device is operated by the wire stretching / relaxing operation by the winch device. Is positioned with respect to the outer wall.

Japanese Patent No. 6877013 Japanese Patent No. 6877723

According to the above-mentioned proposal by the present inventor and the like described above, it becomes possible to easily position a predetermined inspection device on the outer wall in the outer wall inspection.

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

That is, when changing the inspection location, delicate maneuvering skills are required for the flight movement of the drone along the outer wall, and in the case of an inexperienced worker, a collision with the outer wall due to a maneuvering error and damage to the equipment due to this are required. It is a problem that there is a possibility that such things may occur.
This makes it difficult to fly the drone while applying a predetermined pressure to the brush, for example, when the above proposal is applied to a cleaning operation using a brush.

The present invention has been made in view of the above-mentioned actual conditions, and provides a drone capable of easily performing work using a brush on a wall surface and a wall surface work system using the same with a simple configuration. The task is to do.

In order to solve the above problems, the present invention includes a drone main body, a wheel portion configured to be rollable with respect to a predetermined wall surface, and a connecting portion for connecting the drone main body and the wheel portion. ,
The drone body has a flight means, a control means for controlling the flight means, and a drone configuration provided with the flight means and the control means.
A plurality of the wheel portions are provided at intervals in the vertical direction, and are projected from the connecting portion so as to be arranged in front of the drone main body.
The connecting portion is provided with a brush that comes into contact with the wall surface together with the wheel portion.
The posture of the drone main body is configured to be an inclined posture toward an oblique downward direction in a state where the plurality of wheel portions are in contact with the wall surface at the same time.

According to the drone of the present invention, the operator can easily perform the work using the brush on the wall surface.

That is, the drone usually flies forward, and the difference in lift of the propeller naturally causes the drone to have an inclined attitude toward diagonally downward.
Therefore, according to the above configuration, the operator can smoothly bring each wheel portion into contact with the wall surface only by a simple operation of flying the drone main body forward.
As a result, the operator can surely apply the pressure based on the propulsive force to the front of the drone body to the wall surface through each wheel portion. Then, by applying propulsive force to the drone body in any direction up, down, left, and right in this state, the operator can stably and smoothly move the drone on the wall surface as if moving on the ground. It can be moved freely.

At this time, since the drone moves on the wall surface while maintaining a predetermined distance from the wall surface, it can move while applying a predetermined pressure to the brush that comes into contact with the wall surface together with the wheel portion.
As a result, the operator can perform various operations such as cleaning the wall surface using a brush and coating work easily and with high accuracy.

In a preferred embodiment of the present invention, the drone structure is formed in a skeleton shape by an elongated rod-shaped body.

With such a configuration, the drone configuration can be made simple and lightweight.

In a preferred embodiment of the present invention, the connecting portion is formed in a skeleton shape by an elongated rod-shaped body.

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

In the preferred embodiment of the present invention, the elongated rod-shaped body is hollow.

With such a configuration, it is possible to further reduce the weight of the drone configuration or the connecting portion.

In a preferred embodiment of the present invention, the conductor that electrically connects the flight means and the control means is housed inside the elongated rod-shaped body.

With such a configuration, it is possible to prevent damage to the conducting wire and maintain a good appearance of the entire drone.

In a preferred embodiment of the present invention, the connecting portion is provided with an inspection device that performs a predetermined inspection operation on the wall surface.

With such a configuration, the operator can perform not only the above-mentioned work using the brush but also the wall surface inspection work.

In a preferred embodiment of the present invention, the inspection device is a camera that photographs the wall surface.

With such a configuration, this drone can be used for an inspection method for visually grasping the state of a wall surface, such as an infrared thermography method.

Further, the present invention is a wall surface working system.
The drone, the brush portion, the guide wire provided along the surface direction of the wall surface, and the wire supporting means for supporting the guide wire are provided.
The drone is attached to the guide wire and
The wire supporting means has a winch device for unwinding and winding the guide wire.
The guide wire is stretched by the winch device and is stretched.
The drone is pulled upward by the tension of the guide wire stretched by the winch device.

According to the present invention, it is possible to provide a drone capable of easily performing a work using a brush on a wall surface and a wall surface work system using the drone with a simple configuration.

It is a schematic perspective view of the drone which concerns on embodiment of this invention. It is a top view of the drone which concerns on embodiment of this invention. It is (a) side view and (b) rear view of the drone which concerns on embodiment of this invention. It is explanatory drawing of the use method of the drone which concerns on embodiment of this invention. It is explanatory drawing of the use method of the drone which concerns on embodiment of this invention. It is explanatory drawing of the use method of the drone which concerns on embodiment of this invention. It is explanatory drawing of the use method of the drone which concerns on embodiment of this invention. It is explanatory drawing of the usage method of the wall surface work system which concerns on embodiment of this invention. It is explanatory drawing of the usage method of the wall surface work system which concerns on embodiment of this invention. It is explanatory drawing of the usage method of the wall surface work system which concerns on embodiment of this invention.

Hereinafter, the drone according to the embodiment of the present invention will be described with reference to the drawings.
The embodiments shown below are examples of the present invention, and the present invention is not limited to the following embodiments.
Further, in these figures, reference numeral X indicates a drone according to the present embodiment.
Further, for convenience of the following description, the x-axis direction shown in FIGS. 1 and 2 is the front-back direction, the y-axis direction is the left-right direction, and the z-axis direction is the up-down direction.

Hereinafter, the configuration of the drone X will be described with reference to FIGS. 1 and 2.
In addition, in FIGS. 1 and 2, the brush K and the inspection device V are omitted.
Further, in FIG. 2, the elongated rod-shaped body constituting the drone configuration 13 described later is shown by a dotted line, and the elongated rod-shaped body constituting the connecting portion 3 is shown by a solid line.

As shown in FIGS. 1 and 2, the drone X includes a drone main body 1, a wheel portion 2 configured to be rotatable with respect to a predetermined wall surface W (see FIG. 4 and the like), and a drone main body 1 and a wheel portion. It is provided with a connecting portion 3 for connecting the two.

The drone main body 1 has a flight means 11, a control means 12 for controlling the flight means 11, and a drone configuration 13 provided with the flight means 11 and the control means 12.

In the present 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 unit 11b for rotationally driving the propeller body 11a, and a motor unit 11b. Includes a bracket 11c that connects to the drone configuration 13.

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

The drone structure 13 is formed in a frame shape by an elongated rod-like body having a substantially columnar shape as a whole, and is composed of a structure body 13a formed along a plane substantially perpendicular to the rotation axis of the propeller body 11a. Includes a plurality of legs 13b projecting downward from the body body 13a.
The elongated rod-shaped body constituting the drone structure 13 is hollow.
Further, the elongated rod-shaped body is formed by using a lightweight material such as carbon.

The structure main body 13a is provided with the flight means 11 and the control means 12, and has a first structure p1 formed in a substantially T-shape in a plan view and a plan view projecting forward from the first structure p1. The second structure p2, which is substantially U-shaped, the third structure p3, which is substantially U-shaped in plan view and is projected rearward from the first structure p1, and the first structure p1 to the left. A fourth structure p4 having a substantially E-shape in a plan view and a fifth structure p5 having a substantially E-shape in a plan view protruding to the right from the first structure p1. It is configured.

Further, each of these constituents p1 to p5 is configured in a skeleton shape by connecting a plurality of linear or curved elongated rods having substantially the same diameter with a joint j.
As the joint j, a three-way to five-way joint j is appropriately used depending on the number of connections and the connection direction.

Further, the elongated rod-shaped body extending in the front-rear direction used on the left and right sides of the first structure p1 is provided with one communication hole h for communicating the outside and the inside in the vicinity of each flight means 11. ing. Further, the elongated rod-shaped body covered with the control means 12 is also provided with one or a plurality of communication holes (not shown).
Then, each conducting wire k that electrically connects each motor unit 11b and the control means 12 passes through the inside of the elongated rod-shaped body through each communication hole h, and goes out through the communication hole below the control means 12. Therefore, 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 a plan view, and substantially columnar rubber legs r are provided at the lower ends of each leg 13b.
Further, each leg portion 13b is configured by connecting three elongated rod-shaped bodies with a joint j, and the elongated rod-shaped body extending vertically is connected to the joint j provided in the constituent main body 13a. ..
It should be noted that other elongated rod-shaped bodies are also connected to the main body 13a of the structure by using, for example, a flexible joint (not shown) that can be fitted from the outside.

The wheel portion 2 is a so-called universal caster that can roll on two axes.

Similar to the drone structure 13, the connecting portion 3 is formed in a frame shape by an elongated rod-shaped body having a substantially columnar shape as a whole, and is erected above the drone main body 1.
The elongated rod-shaped body used for the connecting portion 3 is hollow and has substantially the same diameter as the elongated rod-shaped body used for the drone structure 13.

Further, the connecting portion 3 includes an inspection device holding portion 31 provided with an inspection device V (see FIG. 3 and the like) for performing a predetermined inspection operation on the wall surface W, and a pair of front support portions formed substantially linearly. 32 includes a pair of side support portions 33 formed in a substantially L-shape, and a projecting portion 34 formed in a substantially linear shape and connecting the front support portion 32 and the wheel portion 2.
The above-mentioned components constituting the connecting portion 3 are shown as a single continuous elongated rod-shaped body, but like the drone component 13, they are connected by connecting a plurality of elongated rod-shaped bodies with a joint j. The entire part 3 may be configured.

The inspection device holding portion 31 is composed of a pair of side portions q1 erected above the first component p1 and a plurality of suspension portions q2 suspended on 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 diagonally upward in a side view.
Further, each side portion q1 is provided so as to be symmetrical in a plan view, as shown in FIG. 2, in particular.

Each suspension portion q2 has a first suspension portion q21 that suspends above each side portion q1, a second suspension portion q22 and a third suspension portion q23, and a fourth suspension portion q24 that suspends below each side portion q1 (FIG. 3). (B)) and the fifth suspension q25.

Each front support portion 32 is erected diagonally rearward from both front ends of the second configuration p2 and is connected to the front end of each side portion q1.

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

Two projecting portions 34 are provided at intervals in the vertical direction with respect to each front support portion 32.
Further, as shown in FIG. 2, each of the projecting portions 34 is provided so as to be symmetrical in a plan view, and is provided so as to extend diagonally upward at substantially the same angle in a side view.
The extending angle of each protruding portion 34 is substantially the same as the extending angle of each side portion q1, so that the upper protruding portion 34 extends from the elongated rod-shaped body above each side portion q1. It is made in the above-mentioned manner.

Here, since the wheel portion 2 is provided at the tip of each projecting portion 34, the drone X includes a total of four wheel portions 2.
Further, each wheel portion 2 is projected from the connecting portion 3 so as to be arranged in front of the drone main body 1 by each projecting portion 34.

Hereinafter, an embodiment in which the brush K and the inspection device V are provided on the connecting portion 3 will be described with reference to FIG.

..
As shown in FIG. 3, a pair of brushes K are provided in front of the connecting portion 3 via brackets f1 provided on each front supporting portion 32.
Further, the brush K is composed of a brush main body B1 composed of a large number of hair materials and a substantially rectangular plate-shaped body B2 for holding the brush main body B1, and the brush main body B1 hits the wall surface W together with each wheel portion 2. It is placed in a position where it touches.
The plate-shaped body B2 is connected to the front end portion of the bracket f1 by a predetermined connecting means such as a machine screw or an adhesive.

The bracket f1 is a pair of members extending in the front-rear direction provided on each front support portion 32 at intervals in the vertical direction, and each rear end portion thereof is connected to each front support portion 32.
As a result, the brush K is arranged between the wheel portions 2 in a side view.

The inspection device V is provided in the space formed by the inspection device holding portion 31 via the brackets f2 provided on the first suspension portion q21 and the second suspension portion q22.
Further, the inspection device V is an infrared camera in the present embodiment, and its housing is connected to the end of the bracket f2 by a predetermined connecting means such as a machine screw or an adhesive.
Various operations such as shooting operation of the inspection device V are wirelessly controlled by a remote controller different from the remote controller for flying the drone X.

The bracket f2 is a pair of members extending in the vertical direction provided at intervals between the first suspension portion q21 and the second suspension portion q22, and the upper end portions thereof are the first suspension portion q21 and the second suspension portion. It is connected to q22.

Hereinafter, a method of using the drone X according to the present embodiment will be described with reference to FIGS. 4 to 10.
The drone X or the wall surface work system S in the present embodiment is used for cleaning the wall surface W using the brush K. In this case, it is preferable to impregnate the brush K with a predetermined wall detergent in advance.

Hereinafter, an example in which the cleaning work is performed using only the drone X will be described with reference to FIGS. 4 to 7.

First, as shown in FIG. 4A, the operator flies the drone X to the vicinity of a predetermined wall surface W to be inspected, such as the outer wall or inner wall of the building, and desires the inspection device V on the wall surface W. Facing the position of.
At this time, the operator keeps the attitude in the air by hovering the drone X.

Here, as shown in FIG. 4A, the drone body 1 is horizontal to the standing surface (ground) on which the wall surface W is erected, that is, the drone has a pitch angle of 0 degrees. 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. 4 (b).
As a result, the lift of the two front propeller bodies 11a becomes weaker than the lift of the two rear propeller bodies 11a, so that the posture of the drone body 1 increases the pitch angle from the horizontal posture and tilts diagonally downward. Become a posture.
At this time, it is preferable that the operator adjusts the forward propulsive force applied to the drone main body 1 so that the horizontal distance from each wheel portion 2 to the wall surface W is substantially the same.

Next, as shown in FIG. 5A, the operator brings all the wheel portions 2 and each brush K into contact with the wall surface W by flying forward of the drone X.
At this time, the worker applies the propulsive force forward and, for example, the propulsive force upward or downward, so that the drone X is moved along the wall surface W as shown in FIG. 5 (b). It can be smoothly moved vertically and vertically.

The operator may bring the wheel portion 2 into contact with the wall surface W in a state where the pitch angle is smaller than that shown in FIGS. 4 (b) and 5 (a).
In this case, the lower wheel portion 2 first comes into contact with the wall surface W, but the operator increases the propulsive force to the front of the drone main body 1 from this state, so that the pitch angle of the drone main body is increased. It increases in a manner in which the drone X rotates around the lower wheel portion 2.
As a result, the worker can put the drone X in the same state as shown in FIG. 5A.

Further, as shown in FIG. 7 (c), the worker applies a propulsive force to the right front of the drone body 1 from the state shown in FIG. 7 (a) as shown in FIG. 7 (b). In addition, the drone X can be smoothly moved to the right along the wall surface W.
Further, when the worker wants to move the drone X to the left, the worker may give the drone main body 1 a propulsive force to the left front, contrary to the above.

Note that FIG. 7 is a diagram schematically showing the entire drone X except for the wheel portion 2 with only solid lines, and FIG. 7A is a plan view of FIG. 5A.
Further, the rotation direction of the propeller body 11a of each flight means 11 is indicated by a circular arrow, and the rotation speed is indicated by the thickness of the circular arrow.

In this way, the operator can freely move the drone X on the wall surface W while bringing the brush K into contact with the wall surface W, whereby any area of the wall surface W can be easily cleaned. Can be done.
Further, since the drone X is also provided with an inspection device V which is an infrared camera, the operator can perform not only the above-mentioned cleaning work but also a wall surface inspection using an infrared thermography method.

Hereinafter, an example in which cleaning work is performed using the drone X and the wall surface work system S will be described with reference to FIGS. 8 to 10.

As shown in FIGS. 8 and 9, the wall surface work system S is applied to the outer wall (wall surface W) of the building Z erected on the predetermined erection surface G, and is applied to the drone X and the inspection device. It includes a V, a guide wire A provided along the surface direction of the wall surface W, and a wire supporting means B for supporting the guide wire A.

The guide wire A is a high-strength metal wire such as a piano wire, and in the present embodiment, the tip end portion of one guide wire A is attached to the first suspension portion q21.

The wire supporting means B is provided on the roof of the construction Z, and as shown in FIG. 8, the winch device U around which the guide wire A is wound and the base H attached to the parapet Z1 of the construction Z are particularly provided. A first guide roller R1 provided on the upper part of the base H, and a pair of second guide rollers R2 provided on the side portion of the base H.

The winch device U is provided on the upper part of the base H, and can electrically wind and unwind each guide wire A by remote control.

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

Each of the pair of second guide rollers R2 is supported by the bracket b2 and is configured to be rotatable about a direction substantially perpendicular to the wall surface W.
Further, the second guide rollers R2 are provided facing each other so as to sandwich the guide wire A.

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

By configuring the wall surface work system S in this way, the operator can wind the guide wire A by the winch device U and pull the drone X upward by the tension of the guide wire.
As a result, it is possible to prevent the drone X from falling onto the upright surface G when flight control becomes difficult due to an unexpected failure of the drone X or the like.

When using the wall surface work system S described above, the worker first arranges the wire support means B at a predetermined position (in the present embodiment, one place on the roof of the building Z).

Next, the operator unwinds the guide wire A wound around the wire support means B (winch device U), and fastens the end portion of the guide wire A to the first suspension portion q21.

Next, as shown in FIGS. 8 and 9, the operator flies the drone X to the vicinity of the wall surface W to be worked on, and causes the inspection device V to face a desired position on the wall surface W.
At this time, the operator keeps the attitude in the air by hovering the drone X.

Next, the operator causes the drone X to fly forward toward the wall surface W in the same manner as shown in FIGS. 4 (b) and 5 (a), and each wheel portion 2 and the brush K are moved to the wall surface W. The state shown in FIG. 10 is obtained by bringing the wheel into contact with the wheel.
Further, as in the state shown in FIGS. 6 and 7, the worker applies a forward propulsive force and a propulsive force in any direction up, down, left, and right to the drone main body 1, so that the drone X is mounted on the wall surface W. Move freely on the top.

This allows the operator to clean any area of the wall surface W.

When the cleaning work is completed, the worker lands the drone X on the rooftop or the erection surface G of the building Z.

Further, the worker recovers the drone X by canceling the connection between the drone X and the guide wire A.
Then, the operator winds each guide wire A by each winch device U, and then collects each wire supporting means B.

According to the present embodiment, the operator can surely apply the pressure based on the forward propulsive force of the drone main body 1 to the wall surface W via each wheel portion 2, and the drone X is moved on the ground. It can be freely moved on the wall surface W in a stable and smooth manner as if it were done.

Further, since the drone structure 13 is formed in a frame shape by an elongated rod-shaped body, the drone structure 13 can be made simple and lightweight.

Further, since the connecting portion 3 is formed in a frame shape by an elongated rod-shaped body, the connecting portion 3 can be made simple and lightweight.

Further, since the elongated rod-shaped body is hollow, the drone structure 13 and the connecting portion 3 can be further reduced in weight.

Further, since the conductor k that electrically connects the flight means 11 (motor unit 11b) and the control means 12 is housed inside the elongated rod-shaped body, the conductor k is prevented from being damaged and the drone X as a whole is prevented from being damaged. It is possible to maintain a good aesthetic appearance.

Further, by providing the inspection device V in the connecting portion 3, the operator can perform not only the cleaning work using the brush but also the inspection work (infrared thermography method) of the wall surface W.

The shapes, dimensions, and the like of each component shown in the above-described embodiment are examples, and can be variously changed based on design requirements and the like.

For example, in the above embodiment, the drone X or the wall surface work system S is used for cleaning the wall surface W, but the present invention is not limited to this, and the brush K is impregnated with a predetermined paint to impregnate the wall surface W. It may be used for painting work.

X Drone 1 Drone body 11 Flight means 12 Control means 13 Drone configuration 2 Wheel part 3 Connection part K Brush V Inspection device W Wall surface A Guide wire B Wire support means Z Construction G Standing surface S Wall surface work system

Claims (9)

A drone main body, a wheel portion configured to be rotatable with respect to a predetermined wall surface, and a connecting portion for connecting the drone main body and the wheel portion are provided.
The drone body has a flight means, a control means for controlling the flight means, and a drone configuration provided with the flight means and the control means.
A plurality of the wheel portions are provided at intervals in the vertical direction, and are projected from the connecting portion so as to be arranged in front of the drone main body.
The connecting portion is provided with a brush that comes into contact with the wall surface together with the wheel portion.
The brush has a brush body composed of a large number of hair materials and has a brush body.
In a state where the plurality of wheel portions are all in contact with the wall surface at the same time, the brush body is in contact with the wall surface, and the posture of the drone body is configured to be an inclined posture toward an oblique downward direction. Drone. The drone according to claim 1, wherein the drone structure is formed in a skeleton shape by an elongated rod-shaped body. The drone according to claim 1 or 2, wherein the connecting portion is formed in a frame shape by an elongated rod-shaped body. The connecting portion is formed substantially linearly with a pair of side portions provided on the left and right sides of the drone body, and is formed substantially linearly with a pair of front support portions erected from the front of the drone body. , A projecting portion connecting the front support portion and each of the wheel portions.
Each side portion is provided with the elongated rod-shaped body connected to the drone body and extending upward, and the elongated rod-shaped body extending upward from the elongated rod-shaped body and extending forward.
The drone according to claim 3, wherein the projecting portion connected to the upper wheel portion extends from the elongated rod-shaped body extending forward, which is provided on each side portion. The control means is provided substantially in the center of the drone structure in a plan view.
The flight means are provided on each of the four sides of the control means in a plan view.
The connecting portion includes an inspection device holding portion and includes an inspection device holding portion.
The inspection device holding portion is surrounded by the elongated rod-shaped body, and a space is formed in which an inspection device for performing a predetermined inspection operation is provided on the wall surface.
The drone according to claim 4, wherein the space is formed substantially directly above the control means. The drone according to claim 5 , wherein the inspection device is a camera that photographs the wall surface. The drone according to any one of claims 2 to 6 , wherein the elongated rod-shaped body is hollow. The drone according to claim 7 , wherein the conductor that electrically connects the flight means and the control means is housed inside the elongated rod-shaped body. The drone according to any one of claims 1 to 8 , a guide wire provided along the surface direction of the wall surface, and a wire supporting means for supporting the guide wire are provided.
The drone is attached to the guide wire and
The wire supporting means has a winch device for unwinding and winding the guide wire.
The guide wire is stretched by the winch device and is stretched.
The drone is a wall surface working system that is pulled upward by the tension of the guide wire stretched by the winch device.

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