JP7100321B2 - Building exterior wall inspection robot - Google Patents

Description

The present invention relates to an outer wall inspection robot for a building, and more particularly to an outer wall inspection robot that detects an abnormality by consulting and sliding inspection of a tiled state of an outer wall of a building.

Conventionally, tiles have been attached to the outer wall to protect the outer wall of the building to improve its aesthetics, durability (antifouling and antifungal), and fire resistance. Widely used for the outer walls of apartment buildings (apartments, condominiums, etc.). However, the deterioration of the tile itself is small due to deterioration over time due to sunlight (ultraviolet rays) and temperature difference, but due to deterioration of the joints between tiles and the base of the tile, the tile and the base of the tile (the outer wall of the concrete to which the tile is attached) Peeling that cannot be judged from the appearance occurred between the surface and the adhesive surface), which may cause the tile to peel off. Therefore, in order to prevent a fall accident due to the tiles falling off from the outer wall, the Ministry of Land, Infrastructure, Transport and Tourism will inspect the state of the tiles attached to all the outer walls in about 10 years, and send it to the administrative agency. The obligation to report regular inspections is to be applied.

In recent years, earthquakes, which are natural disasters, occur frequently in Japan, and the effects of these earthquakes may cause cracks or peeling of tiles attached to the outer wall. For large cracks and peeling of tiles, a person can determine the damaged part from the appearance, and the damaged part should be repaired. However, peeling or the like that cannot be judged by a person from the appearance generated between the tile and the base of the tile may occur. Therefore, in order to prevent a fall accident due to the tiles peeling off from the outer wall, it is necessary to inspect the state of the tiles attached to all the outer walls.

Inspecting the state of the tiles attached to the outer wall, such as installing scaffolding on the outer wall or hanging a gondola from the upper part of the outer wall, manually consults (the surface of the tile is struck with a consultation stick and its response). Inspection costs are high because inspections are performed to detect abnormalities in the tiled state by sound). In addition, in the case of condominiums, etc., the inspection of the tiled state will be carried out by the residents' association or the condominium management company by allocating the reserve fund such as the monthly management fee of the condominium residents as the inspection cost. For this reason, if the cost of inspection is high, it will be an excessive burden on the residents.

As an inexpensive inspection method for an outer wall (wall surface) whose damage is not apparent from the appearance, the inspection rod 4 is moved left and right, and the operation of rubbing or hitting the wall surface of the outer wall is arbitrarily switched to generate a wall sound. Disclosed is a method for inspecting the outer wall of a building in which the outer wall is inspected in a zigzag shape by continuously operating the winding winch 2 or in a rectangular wavy shape by alternating left and right movement of the inspection rod 4 (see Patent Document 1). ..

Japanese Unexamined Patent Publication No. 6-331511

The method of inspecting the outer wall of a building in Patent Document 1 is a method of inspecting the outer wall by arbitrarily switching the operation of rubbing or hitting the outer wall in a pendulum shape with one inspection rod of the wall surface inspection machine main body. There is a problem that the inspection efficiency is poor because it is necessary to move the inspection rod to the left and right within a certain range at the time of inspection. Further, no mechanism for pressing the tip of the inspection rod against the outer wall is disclosed, and it is difficult to bring the inspection rod into contact with the outer wall with a constant pressure, and there is a possibility that stable wall surface sound cannot be obtained.

In addition, the wall surface inspection machine body is hung from a single stainless wire via a hanging bracket, and by winding this stainless wire with a winding winch, the wall surface inspection machine body can be raised and lowered with respect to the outer wall for inspection. The tip of the inspection rod may not be able to move accurately along the outer wall due to the swing of the wall inspection machine body due to the weather conditions around the outer wall where the machine is used (mainly due to the influence of wind).

In the present invention, in order to solve such a problem, a stable ascending / descending motion is performed on the outer wall regardless of the weather conditions around the outer wall, and further, an motion of rubbing or hitting the outer wall by the consultation unit is performed at a constant pressure. It is an object of the present invention to provide an outer wall inspection robot capable of inspecting an accurate outer wall condition and realizing a low cost of outer wall inspection with an inexpensive configuration.

In order to solve the above problems, the present invention forms a frame main body by a substantially triangular left and right frames in a side view and a plurality of horizontal frames that horizontally connect the left and right frames, and the left and right frames are driven. It is equipped with two pulleys that can be rotated by a motor, a plurality of guide rollers that guide the wire rope to the pulleys, and a rotating body that comes into contact with the outer wall of the building and can raise and lower the frame body. The frame main body includes a consultation unit that consults or slides on the outer wall, a sound collecting microphone that collects the consultation sound or sliding sound of the outer wall by the consultation unit, and a consultation sound or sliding sound collected by the sound collecting microphone. A power supply that wirelessly transmits a moving sound and wirelessly receives an external operation signal of the drive motor and the consultation unit, and supplies power to the drive motor, the consultation unit, and the wireless transmitter / receiver. Two wire ropes hanging from the roof on the outer wall of the building according to the distance between the left and right frames are wound around the pulleys of the left and right frames, and the external operation signal received by the wireless transmitter / receiver is used. The outer wall inspection robot is characterized in that the frame main body can move up and down the outer wall of the building by rotating the drive motor accordingly.

Further, the percussion unit is provided with at least one or more percussion rods for percussion on the outer wall, and the percussion sound between the tip of the percussion rod and the outer wall generated by laterally shifting the percussion rod, or the percussion rod. The condition of the outer wall of the building is diagnosed by the sliding sound between the tip of the percussion rod and the outer wall generated by moving the frame body in the vertical direction while the tip of the outer wall side is pressed against the outer wall. It is characterized by.

Further, the frame main body is provided with at least one or more infrared lights at a position and orientation that can be imaged by an infrared camera installed on the ground, and the infrared light is imaged by the infrared camera, so that the outer wall inspection robot can take an image of the outer wall. It is characterized by positioning the position.

Further, the percussion portion is characterized in that it is arranged at a position where the centers of the rotating bodies provided on the left and right frames are connected in a straight line in the horizontal direction.

Further, the plurality of guide rollers of the left and right frames are each provided with a wire rope detachment prevention cover.

Further, it is characterized in that weights having different weights can be hung from the lower ends of two wire ropes hanging from the roof on the outer wall.

In the present invention, a frame body is formed by a substantially triangular left and right frame in a side view and a plurality of horizontal frames that horizontally connect the left and right frames, and the left and right frames are made rotatable by a drive motor. It is equipped with individual pulleys, a plurality of guide rollers that guide wire ropes to the pulleys, and a rotating body that can move the frame body up and down in contact with the outer wall of the building, and the frame body consults or slides on the outer wall. The consultation section, the sound collection microphone that collects the consultation sound or sliding sound of the outer wall by the consultation section, and the consultation sound or sliding sound collected by the sound collection microphone are transmitted wirelessly, and the drive motor and consultation It is equipped with a wireless transmitter / receiver that wirelessly receives external operation signals of the unit, a drive motor, a consultation unit, and a power supply unit that supplies power to the wireless transmitter / receiver. The two wire ropes hung down accordingly are wound around the pulleys on the left and right frames, and the drive motor is rotated according to the external operation signal received by the wireless transmitter / receiver, so that the frame body can move up and down the outer wall of the building. There is.

In other words, two wire ropes hung from the roof on the outer wall of the building according to the distance between the left and right frames are wound around the two pulleys on the left and right frames, respectively, and two according to the external operation signal received by the wireless transmitter / receiver. By rotating one of the pulleys of the above by a drive motor, the frame body can move up and down the outer wall in a stable state. As a result, within the range of the length (vertical length) of the two wire ropes hanging from the roof on the outer wall, the outer wall inspection robot can adjust to the weather conditions (mainly wind power) around the outer wall to be inspected. Regardless of this, it is possible to bring the outer wall into contact with the consultation section (the tip of the consultation bar that constitutes the consultation section) that performs the action of hitting or rubbing the outer wall while raising and lowering the outer wall in a stable manner. It is possible to inspect the condition of the outer wall accurately.

Further, a rotating body that comes into contact with the outer wall is provided at each of the contact portions between the left and right frames and the outer wall. By forming this rotating body with, for example, rubber tires, the outer wall of the building will not be damaged when the outer wall inspection robot moves up and down along the outer wall.

In the inspection and diagnosis of the outer wall by the outer wall inspection robot having the above configuration, the consultation sound or sliding sound (hereinafter, also referred to as outer wall inspection data) by the outer wall and the consultation part when the outer wall of the outer wall inspection robot is raised and lowered is, for example, a left and right frame. A personal computer with a dedicated analysis software installed in a predetermined location wirelessly by a wireless transmitter / receiver to collect sound by a sound collecting microphone installed in the substantially central part of the horizontal frame to be connected. It is done by sending to (personal computer). Specifically, it may be a method of diagnosing with the dedicated outer wall inspection data analysis software installed on the personal computer, or the operator can directly listen to the outer wall inspection data transmitted by the wireless transmitter / receiver to cause an abnormality in the outer wall. It may be a method of diagnosing.

Further, it is equipped with a power supply unit that supplies electric power to various devices (driving motor, percussion unit, wireless transceiver) mounted on the outer wall inspection robot that requires electric power supply. This power supply unit is for converting the electric power (for example, 100V) supplied from the outside to the outer wall inspection robot into the electric power required for various devices (driving motor, consultation unit, wireless transceiver, etc.) and supplying it. .. Further, it is desirable to mount a battery (storage battery) as an external power source, which eliminates the need to connect a power supply cable or the like. That is, the outer wall inspection robot can independently move up and down the outer wall to be inspected within the length of the two wire ropes hanging from the roof on the outer wall. In the present invention, it is not always necessary to mount the battery, and the power supply unit may be supplied with power by a power supply cable or the like.

In addition, since the wireless transceiver receives the manual instructions of the dedicated operation control personal computer installed in the specified place and the operator as external operation signals of various devices, it depends on the elevating operation of the outer wall inspection robot and the consultation section. The inspection of the outer wall can be remotely controlled from the outside.

In addition, the percussion unit is provided with at least one percussion rod for percussion on the outer wall, and the percussion sound between the tip of the percussion rod and the outer wall generated by shifting each percussion rod in the horizontal direction with a time lag, or the percussion rod. The condition of the outer wall of the building is diagnosed by the sliding sound between the tip of the percussion rod and the outer wall generated by moving the frame body in the vertical direction while the tip on the outer wall side is pressed against the outer wall. As a result, it is possible to detect stable percussion sounds and sliding sounds between each percussion rod and the outer wall, and it is possible to accurately detect an abnormal portion of the outer wall.

In addition, the frame body is equipped with at least one or more infrared lights in a position and orientation that can be imaged by an infrared camera installed on the ground, and by imaging the infrared lights with an infrared camera, the position of the outer wall inspection robot with respect to the outer wall is positioned. do. As a result, in a dedicated mapping personal computer installed at a predetermined location, the outer wall inspection data transmitted from the wireless transmitter / receiver is associated with the position of the outer wall inspection robot with respect to the positioned outer wall, thereby mapping the outer wall inspection data. It is possible to specify the position of the outer wall in which the abnormality is detected, the position of the inspected outer wall, and the position of the uninspected outer wall.

Further, the percussion unit is arranged at a position where the centers of the rotating bodies provided on the left and right frames are connected in a straight line in the horizontal direction. That is, when the main body frame of the outer wall inspection robot is moved up and down along the surface of the outer wall, vertical swing, that is, pitching in the traveling direction occurs. For this reason, if the percussion section is provided on each of the left and right frames and is arranged at a position vertically separated from the rotating body, the tip of the percussion bar provided on the percussion section and the outer wall are connected by pitching of this outer wall inspection robot. Since the contact is not stable, accurate outer wall inspection data (percussion sound and sliding sound) may not be obtained. For this reason, by arranging the consultation portion at a position where the centers of the rotating bodies provided on the left and right frames are connected in a straight line in the horizontal direction, the influence of pitching of the outer wall inspection robot can be suppressed as much as possible. It is composed. As a result, the pressure at which the tip of the percussion rod of the percussion unit and the outer wall come into contact with each other can be kept constant, and an accurate percussion inspection of the outer wall can be performed.

Further, the plurality of guide rollers of the left and right frames are each provided with a cover for preventing the wire rope from coming off. The inner circumference of this disengagement prevention cover has a diameter slightly larger than the outer circumference of the guide roller by the thickness of the wire rope, and the wire rope can be attached and detached with the disengagement prevention cover attached to the guide roller. There is. As a result, it is possible to prevent the wire rope from coming off from the plurality of guide rollers of the left and right frames due to the left-right swing when the main body frame of the outer wall inspection robot is moved up and down along the surface of the outer wall. It can be stably guided to individual pulleys.

In addition, weights of different weights can be hung from the lower ends of the two wire ropes hanging from the roof on the outer wall. As a result, by selecting a weight that hangs at the lower end of the wire rope according to the weather conditions (mainly wind power), the tension of the wire rope is adjusted to suppress the left and right swing of the outer wall inspection robot that moves up and down the outer wall. It is possible to accurately detect the abnormal part of the outer wall. That is, it is possible to inspect the outer wall with a stable outer wall and a percussion sound or a sliding sound by the percussion unit.

It is a front perspective view which shows the structure of the outer wall inspection robot which concerns on this embodiment. It is a rear perspective view which shows the structure of the outer wall inspection robot which concerns on this embodiment. It is a side view which shows the structure of the outer wall inspection robot which concerns on this embodiment. It is a figure explaining the fixing of the lower end portions of the two wire ropes of the outer wall inspection robot which concerns on this embodiment. It is a side view which shows the operation of the percussion part of the outer wall inspection robot which concerns on this embodiment. It is a side view which shows the use example of the outer wall inspection robot which concerns on this embodiment. It is a figure explaining the angle change of one vertex of the right and left frame of the triangle of the outer wall inspection robot which concerns on this embodiment. It is a figure explaining the change of the width interval horizontal to the outer wall of the outer wall inspection robot which concerns on this embodiment. It is a perspective view which shows the other embodiment of the percussion part of the outer wall inspection robot which concerns on this embodiment. It is a figure explaining the mapping of the outer wall of the outer wall inspection robot which concerns on this embodiment.

The gist of the present invention is to form a frame main body by a substantially triangular left and right frame in a side view and a plurality of horizontal frames that horizontally connect the left and right frames, and the left and right frames are rotatable by a drive motor. The frame body is provided with two pulleys, a plurality of guide rollers for guiding the wire rope to the pulley, and a rotating body that is in contact with the outer wall of the building and is capable of raising and lowering the frame body. A consultation unit that consults or slides on the outer wall, a sound collecting microphone that collects the consultation sound or sliding sound of the outer wall by the consultation unit, and a consultation sound or sliding sound collected by the sound collecting microphone are transmitted wirelessly. In addition, the drive motor, a wireless transmitter / receiver that wirelessly receives an external operation signal of the consultation unit, and a power supply unit that supplies power to the drive motor, the consultation unit, and the wireless transmitter / receiver are provided. Two wire ropes hung from the roof on the outer wall of the building according to the distance between the left and right frames are wound around the pulleys of the left and right frames, and the drive motor responds to an external operation signal received by the wireless transmitter / receiver. It is an outer wall inspection robot characterized in that the frame main body can move up and down the outer wall of a building by rotating.

Hereinafter, the outer wall inspection robot according to this embodiment will be described with reference to the drawings. In the following description, an inspection of the outer wall of a high-rise building such as a condominium in which tiles are attached to the outer wall to protect the outer wall of the building will be described as an example.

FIG. 1 is a front perspective view showing a configuration of an outer wall inspection robot according to the present embodiment. FIG. 2 is a rear perspective view showing the configuration of the outer wall inspection robot according to the present embodiment. FIG. 3 is a side view showing the configuration of the outer wall inspection robot according to the present embodiment. FIG. 4 is a diagram illustrating the fixing of the lower ends of the two wire ropes of the outer wall inspection robot according to the present embodiment. FIG. 5 is a side view showing the operation of the percussion unit of the outer wall inspection robot according to the present embodiment. FIG. 6 is a side view showing a usage example of the outer wall inspection robot according to the present embodiment. FIG. 7 is a diagram illustrating a change in the angle of one apex of the left and right frames of the triangle of the outer wall inspection robot according to the present embodiment. FIG. 8 is a diagram illustrating a change in the width interval horizontal to the outer wall of the outer wall inspection robot according to the present embodiment. FIG. 9 is a perspective view showing another embodiment of the percussion unit of the outer wall inspection robot according to the present embodiment. FIG. 10 is a diagram illustrating mapping of the outer wall of the outer wall inspection robot according to the present embodiment.

As shown in FIGS. 1 to 4, the outer wall inspection robot 1 of the present embodiment has a substantially triangular left frame 11L, right frame 11R (hereinafter, also referred to as left and right frames 11L, 11R) and left and right frames in a lateral view. The frame main body 10 is formed by a plurality of (six in the figure) horizontal frames 12 that horizontally connect the 11L and 11R. The frame body 10 is arranged so that one of the opposite vertices of the triangular left and right frames 11L and 11R protrudes from the outer wall of the building to be inspected.

The left and right frames 11L and 11R form a triangle by connecting the ends of three rectangular flat aluminum frames 11A, 11B and 11C. Two pulleys 3A and 3B are arranged in a substantially central portion of the aluminum frame 11A, which is one side of the triangular left and right frames 11L and 11R. The two pulleys 3A and 3B are rotatably arranged at one end of a shaft 3a arranged vertically and vertically in the substantially central portion of the aluminum frame 11A, and a drive motor M1 is connected to the pulley 3A. Has been done. The drive motor M1 is rotated to rotate the pulley 3A, so that the pulley 3B rotates in conjunction with the pulley 3A.

A plurality of guide rollers 6 (a total of four, two upper and lower) are rotatably arranged on the rotating cylinder shaft 6a above and below the two pulleys 3A and 3B of the aluminum frames 11A of the left and right frames 11L and 11R, respectively. Has been done. The guide roller 6 is for guiding two wire ropes R hanging from the roof to the outer wall of the building according to the distance between the left and right frames 11L and 11R to the two pulleys 3A and 3B. The guide roller 6 is formed with an inverted mountain-shaped groove in the center, and this groove is configured to stably guide the wire rope R vertically and vertically.

Further, each of the plurality of guide rollers 6 is provided with a wire rope R detachment prevention cover 6b. The detachment prevention cover 6b is formed in a cylindrical shape with an open bottom, and is provided at the tip of the rotating cylinder shaft 6a so as to cover the guide roller 6. Notches are provided at the top and bottom of the side surface of the detachment prevention cover 6b. The inner circumference of the detachment prevention cover 6b has a diameter slightly larger than the outer circumference of the guide roller 6 by the thickness of the wire rope R, and the side surface of the detachment prevention cover 6b is attached to the guide roller 6 with the detachment prevention cover 6b attached. The wire rope R can be attached to and detached from the guide roller 6 through the upper and lower notches. As a result, it is possible to prevent the wire rope from coming off from the plurality of guide rollers 6 of the left and right frames due to the left-right swing when the frame body 10 of the outer wall inspection robot 1 is moved up and down along the surface of the outer wall of the building. The wire rope can be stably guided to the two pulleys 3A and 3B.

In the aluminum frame 11A having the above configuration, the two wire ropes R hung from the roof on the outer wall of the building according to the distance between the left and right frames 11L and 11R are connected to the two pulleys 3A and 3B via the guide rollers 6. Wrapped around. Three inverted mountain-shaped wire grooves 3c (see FIG. 3) are formed on the rotating surfaces of the pulleys 3A and 3B, and the wire rope R is formed a plurality of times (in the figure) in the three wire grooves 3c. 3 times) Wrapped. As a result, the lengths of the two wire ropes R hung from the roof on the outer wall according to the rotation direction of the drive motor M1 connected to the pulley 3A (right rotation or left rotation in the side view of 3 in the figure). Within the range of the rope (length in the vertical direction), the outer wall inspection robot 1 can move up and down along the outer wall to be inspected.

One ends of the aluminum frames 11B and 11C are connected to the aluminum frame 11A forming the triangular left and right frames 11L and 11R, and the multiple ends of the aluminum frames 11B and 11C are connected to each other so that the triangular left and right frames 11L and 11R are horizontal. One apex 11E facing the outer wall is formed so as to project toward the outer wall side. At one apex, a rotating body 7 that comes into contact with the outer wall and enables the outer wall inspection robot 1 to move up and down is arranged. For the rotating body 7, for example, a rubber tire or the like is preferably used so that the outer wall of the building is not damaged when the outer wall inspection robot 1 moves up and down along the outer wall.

The consultation unit 20 is arranged at a position where the centers of the rotating bodies 7 provided at the one apex 11E formed by the multiple ends of the aluminum frames 11B and 11C of the left and right frames 11L and 11R are connected in a horizontal straight line. Has been done. The consultation unit 20 has a function of consulting or sliding the outer wall in the present embodiment to generate a consultation sound or a sliding sound. The details of the consultation unit 20 will be described later. The percussion unit 20 is provided on the outer wall side of the mounting plate 30 by connecting the mounting plates 30 having both ends formed in a U shape in front view below the vicinity of the one apex 11E formed by the multiple ends of the aluminum frames 11B and 11C. It is arranged in parallel with the horizontal frame 12.

In this way, by arranging the consultation unit 20 of the present embodiment at a position where the centers of the rotating bodies 7 provided on the left and right frames 11L and 11R are connected in a horizontal straight line, the outer wall inspection robot 1 can be used. The influence of pitching that occurs during the ascending / descending operation can be suppressed as much as possible. As a result, the pressure at which the percussion ball 21a of the percussion rod 21 of the percussion unit 20 and the outer wall come into contact with each other can be kept constant, and an accurate percussion inspection of the outer wall can be performed.

As a plurality of (six in the figure) horizontal frames 12 for horizontally connecting the left and right frames 11L and 11R constituting the frame main body 10, a prismatic (or prismatic) aluminum frame is also preferably used. A sound collecting microphone 16 for collecting the percussion sound or the sliding sound of the outer wall generated by the percussion unit 20 is arranged at the substantially central portion of any of the horizontal frames 12. The sound collecting microphone 16 hinders the collection of the percussion sound or the sliding sound of the outer wall generated by the percussion unit 20 due to the plurality of horizontal frames 12 forming the frame body 10 and various equipment mounted on the frame body 10. It is arranged in a position that cannot be used.

Further, the mounting plate portion 40 is vertically connected to the upper and lower horizontal frames 12 that horizontally connect the aluminum frames 11A of the left and right frames 11L and 11R, and the radio equipment T is connected above and below the mounting plate portion 40. The power supply unit B is arranged. The radio T has a function as a radio transceiver that wirelessly transmits a percussion sound or a sliding sound picked up by the sound collecting microphone 16. In the inspection and diagnosis of the outer wall in the present embodiment, the percussion sound or the sliding sound (hereinafter, also referred to as the outer wall inspection data) by the outer wall and the percussion portion is collected by, for example, the outer wall inspection data by the sound collecting microphone 16, and the sound is collected. The external wall inspection data is transmitted wirelessly by the radio T to a personal computer (personal computer) installed with dedicated analysis software installed in a predetermined location (however, within the range where the radio can be normally received), and this analysis software is used. Be diagnosed. Further, a skilled worker may diagnose the abnormality of the outer wall by directly listening to the outer wall inspection data wirelessly transmitted by the radio T.

Further, the radio T functions as a wireless transceiver that wirelessly receives the operation of the drive motor M1 and the consultation unit 20. That is, a personal computer (personal computer) in which a dedicated operation control software installed in a predetermined place or an operator's manual operation instruction is used as an operation signal of various devices (drive motor M1 and consultation unit 20). It is for receiving and remotely controlling the ascending / descending operation of the outer wall inspection robot 1 and the inspection of the outer wall by the consultation unit 20.

The power supply unit B converts the electric power supplied to the outer wall inspection robot from the outside (for example, AC100V) into the electric power required for the drive motor M1 of the pulley 3A, the consultation unit 20, and the radio T described above. It is a thing. As external power, a rechargeable battery (storage battery) can be mounted on the power supply unit B. This eliminates the need to connect a power supply cable or the like for supplying external power to the power supply unit B. That is, the outer wall inspection robot 1 can independently move up and down the outer wall to be inspected within the length range of the two wire ropes R hanging from the roof on the outer wall. In the present invention, it is not always essential that the power supply unit B is equipped with a battery, and the power supply unit B may be supplied with power by a power supply cable or the like.

Further, weights W having different weights (for example, 2 kg, 4 kg, 6 kg) can be hung from the lower ends of the two wire ropes R hanging from the roof on the outer wall. As a result, the tension of the wire rope R can be changed by adjusting the weight of the weight W suspended from the lower end of the wire rope R according to the weather conditions (mainly wind power), and the outer wall inspection for raising and lowering the outer wall can be performed. It is possible to suppress the left and right swing of the robot 1. As a result, the outer wall inspection robot 1 can detect the sliding sound between each of the consultation rods 21 of the consultation unit 20 and the outer wall in a more stable state, and can accurately detect the abnormal portion of the outer wall. That is, it is possible to inspect the outer wall with a stable outer wall and a percussion sound or a sliding sound by the percussion unit.

A ring for locking the weight W may be provided at the lower ends of the two wire ropes R, and a hook for locking the weight W may be provided at the upper end of the weight W. Then, by hooking this hook on the ring at the lower end of the wire rope R, the weight W can be easily attached and detached, so that the weights W having different weights can be easily replaced. As the hook, for example, a hook provided with a retaining metal fitting that can lock the locked state, although it is easy to attach / detach to the ring, is preferably used.

Here, as shown in FIG. 4, the lower ends of the two wire ropes R hanging from the roof can be fixed to the anchor AK driven into the ground G. In this case, for example, if the outer wall to be inspected is the outer wall of a high-rise building area where irregular winds dance, the method used when inspecting the outer wall under the weather conditions where strong winds are expected due to low pressure or the like. There, the lower ends of the two wire ropes hanging from the roof are crimped and fixed to the anchor AK on the ground with the maximum tension. By doing so, even under the weather conditions where strong winds are expected due to high-rise buildings where irregular winds dance or low pressure, the left and right swing of the outer wall inspection robot 1 that moves up and down the outer wall is minimized. It is possible to carry out an accurate exterior wall inspection.

Further, the frame main body 10 of the present embodiment is provided with two infrared lights 8 at a position and orientation that can be imaged by an infrared camera installed on the ground. The two infrared lights 8 are arranged on the diagonal line of the two horizontal frames 12 that horizontally connect the aluminum frames 11A constituting the left and right frames 11L and 11R. The position of the outer wall inspection robot 1 with respect to the outer wall is determined by taking an image of the infrared light 8 with an infrared camera installed on the ground and equipped with a bandpass filter, for example. Then, in a dedicated mapping personal computer installed at a predetermined location (near the infrared camera on the ground), the outer wall inspection data transmitted from the radio T is associated with the position of the outer wall inspection robot 1 with respect to the positioned outer wall for mapping. By doing so, it is possible to specify the position of the outer wall in which the abnormality of the outer wall inspection data is detected, the position of the inspected outer wall, and the position of the uninspected outer wall.

Hereinafter, an example of mapping based on the position of the outer wall inspection robot 1 will be described with reference to FIG. As shown in FIG. 10, as the mapping, the inspection area MP of the outer wall H is divided into 15 areas of MP1 to MP15 in 3 rows and 5 stages in advance. In FIG. 10, the suspension device S is arranged on the left side of the front view, and a percussion inspection is performed on the outer wall H from MP1 to MP5 at the lower left of the inspection area MP toward the vertical upper part of the two wire ropes R. .. Next, the suspension device S is arranged in the center of the front view, and a percussion inspection is performed on the outer wall H from MP6 to MP10 at the lower left of the inspection area MP toward the vertical lower part of the two wire ropes R. Finally, the suspension device S is arranged on the right side of the front view, and a percussion inspection is performed on the outer wall H from MP11 to MP15 at the lower left of the inspection area MP toward the vertical upper part of the two wire ropes R.

The elliptical shaded area ER in the figure indicates the location of the outer wall where an abnormality was detected as a result of the percussion test. .. As shown in FIG. 10, by mapping the outer wall inspection data transmitted from the radio T with the position of the outer wall inspection robot 1 with respect to the outer wall positioned by the infrared camera, the position of the outer wall where the abnormality of the outer wall inspection data is detected is detected. Can be mapped, and the data to be repaired can be recorded on a dedicated mapping personal computer for each outer wall to be inspected.

In addition, the inspector can visually confirm the area of the outer wall that has been inspected and the area of the outer wall that has not been inspected, and it is possible to accurately grasp the progress of the percussion inspection by the outer wall inspection robot 1 of the outer wall H. Will be.

Further, although not shown, the outer wall inspection robot 1 of the present embodiment can be equipped with a color spray or the like capable of attaching a color marker to a portion diagnosed as abnormal as a result of a percussion inspection. Specifically, the result of transmitting the collected outer wall inspection data (consultation sound or sliding sound) to a personal computer (personal computer) in which dedicated analysis software installed at a predetermined location is wirelessly installed by the radio T. When an abnormality in the outer wall is detected, the color spray operation signal is transmitted to the outer wall inspection robot 1, and the outer wall inspection robot 1 that receives the color spray operation signal via the radio T injects the color spray or the like. Attach a color marker to the place where the abnormality is detected. This makes it possible to improve the workability of the worker who repairs the outer wall.

Hereinafter, the configuration and operation of the percussion unit 20 in the present embodiment will be described with reference to FIGS. 1 to 5. As described above, the percussion unit 20 is the outer wall of the mounting plate 30 at a position where the centers of the rotating bodies 7 arranged at the horizontally opposed vertices 11E of the left and right frames 11L and 11R of the triangle are connected in a horizontal straight line. It is arranged on the lower side. In the consultation unit 20, a plurality of (five in this embodiment) consultation rods 21 are installed on the mounting frame 25 at equal intervals. The percussion rod 21 includes a spherical percussion ball 21a at the tip on the H side of the outer wall, a disk-shaped flat plate 21b at the rear end, a fixing portion 21d for fixing the percussion rod 21 to the mounting frame 25, and a percussion ball 21a and a fixing portion 21d. It is composed of a coil spring 21c arranged between the two. SUS (stainless steel) is preferably used as the material of the percussion rod 21, and the diameter of the percussion ball 21a is preferably about 20 mm.

The drive unit of the consultation unit 20 is composed of a motor M2 and an aluminum rod 22 rotatably connected by the motor M2. A disk-shaped set collar 23 is fixedly attached to the aluminum rod 22 at predetermined equal intervals, and a rotating rod 24 is extended radially from the center of the set collar 23 on the outer circumference of the set collar 23. The tip of the rotating rod 24 is covered with a resin protective cover 24a (see FIG. 5).

With the above configuration, the aluminum rod 22 rotates according to the rotation of the motor M2, and the set collar 23 fixed to the aluminum rod 22 at predetermined equal intervals rotates. As a result, as shown in FIG. 5, the tip (protective cover 24a) of the vertically rotating rotating rod 24 provided on the outer periphery of the set collar 23 is vertically connected to the rear end of the consultation rod 21. The percussion rod 21 is moved horizontally in the direction away from the outer wall H in contact with the shaped flat plate 21b (FIG. 5A). As a result, the coil spring 21c disposed between the percussion ball 21a of the percussion rod 21 and the fixing portion 21d is compressed (FIG. 5B).

Further, as the contact between the protective cover 24a of the rotating rod 24 provided on the outer periphery of the rotating set collar 23 and the flat plate 21b provided at the rear end of the consultation rod 21 progresses, the protective cover 24a and the flat plate 21b come into contact with each other. The consultation rod 21 is moved horizontally to the position farthest from the outer wall H by making contact at an angle of about 30 degrees. As a result, the coil spring 21c disposed between the percussion ball 21a and the fixing portion 21d of the percussion rod 21 is maximally compressed (FIG. 5 (c)).

Further, when the set collar 23 rotates, the contact between the protective cover 24a and the flat plate 21b is released, so that the percussion ball 21a at the tip of the percussion rod 21 on the outer wall H side is released from the compression of the coil spring 21c to the outer wall H side. A percussion sound is generated when the percussion ball 21a and the outer wall H collide with each other.

The rotating rod 24 provided on the outer periphery of the disk-shaped set collar 23 fixed to the aluminum rod 22 has a different phase (for example, about 45 degrees) in the rotational direction on the outer periphery of each set collar 23. In addition, they are extended to the outer periphery of the set collar 23, respectively. That is, the above-mentioned contact and release of the contact and release of the protective cover 24a at the tip of the rotating rod 24 and the flat plate 21b at the rear end of the consultation rod 21 by the rotation of the set collar 23 are timed for each of the five consultation rods 21. It is configured to shift. As a result, the percussion balls 21a of the five percussion rods 21 and the outer wall H collide with each other at different timings, and the generated percussion sounds can be collected by the sound collecting microphone 16 without overlapping.

Further, when collecting the sliding sound between the percussion ball 21a of the percussion rod 21 and the outer wall H, the protective cover 24a at the tip of the rotating rod 24 due to the rotation of all the set collars 23 and the percussion rod 21 are configured. This is performed with the rotation of the motor M2 stopped at a position where the flat plate 21b does not come into contact with the flat plate 21b. As a result, the sliding sound between the percussion ball 21a of the percussion rod 21 and the outer wall H can be collected while the percussion ball 21a of the five percussion rods 21 and the outer wall H are in reliable contact with each other.

Further, in the present embodiment, the rotating body 7 provided at each of the horizontally opposed one apex 11E of the left and right frames 11L and 11R of the triangle is meteorological (mainly,) when the frame body 10 moves up and down on the outer wall H. Even if it is fanned by the wind), the frame main body 10 and the outer wall H are restricted from coming into direct contact with each other to prevent the outer wall H and the frame main body 10 from being damaged. The percussion ball 21a at the tip of the percussion rod 21 constituting the percussion unit 20 is slightly protruded toward the outer wall H side from the outer peripheral portion of the rotating body 7. Therefore, the contact between the percussion ball 21a and the outer wall H is not hindered by the rotating body 7.

Hereinafter, the configuration and operation of other embodiments of the percussion unit will be described with reference to FIG. 9. Other embodiments of the percussion rod will be described. As described above, the percussion unit 20A is the outer wall of the mounting plate 30 at a position where the centers of the rotating bodies 7 arranged at the horizontally opposed vertices 11E of the left and right frames 11L and 11R of the triangle are connected in a horizontal straight line. It is arranged on the side.

The consultation unit 20A includes an electromagnetic solenoid 33 having one consultation rod 21, a horizontal rotating body 32 rotatably arranged on the upper surface near both left and right ends of the mounting plate 30 for horizontal reporting, and left and right horizontal rotation. It is composed of a belt 34 for transmitting the rotation of the body 32 and a motor M3 for horizontally rotating one of the left and right horizontal rotating bodies 32 (on the right side in the drawing). The percussion rod 21 has a spherical percussion ball 21a at the tip on the H side of the outer wall. As the material of the percussion rod 21, SUS (stainless steel) is preferably used as in the above-mentioned percussion unit 20, and the diameter of the percussion ball 21a is preferably about 20 mm.

The drive unit of the consultation unit 20A is a motor M3, a horizontal rotating body 32 of one of the left and right horizontal rotating bodies 32 rotatably connected to the horizontal report by the motor M3 (on the right side in the figure), and the horizontal rotating body 32. It is composed of a belt 34 that transmits the rotation of the horizontal rotating body 32 of the horizontal rotating body 32 on one side (right side in the figure) to the horizontal rotating body 32 on the other side (left side in the figure).

In the above configuration, when electric power is supplied to the electromagnetic solenoid 33, the consultation rod 21 protrudes back and forth in the horizontal direction. At this time, when electric power is supplied to the motor M3 at the same time, one horizontal rotating body 32 rotates horizontally, and this rotation is transmitted to the other horizontal rotating body 32 via the belt 34. Further, since the electromagnetic solenoid 33 is connected to the connecting portion 34a on the outer wall side (front side in the drawing) of the belt 34, it moves left and right in the horizontal direction as the motor M3 rotates. That is, the motor M3 repeats forward and reverse rotation so that the belt 34 reciprocates horizontally between the horizontal rotating bodies 32 at both left and right ends. As a result, the consultation rod 21 in the consultation unit 20A repeats the horizontal left-right movement while consulting the outer wall H by the horizontal left-right movement of the electromagnetic solenoid 33 between the horizontal rotating bodies 32 at both left and right ends.

Further, when collecting the sliding sound of the outer wall H, the supply of electric power to the electromagnetic solenoid 33 is stopped, and the electric power is supplied only to the motor M3. As a result, one consultation rod 21 of the electromagnetic solenoid 33 is stopped in a protruding state. In this state, the percussion ball 21a of the percussion rod 21 moves horizontally to the left and right in a state of being in contact with the outer wall H, and a sliding sound between the percussion ball 21a of the percussion rod 21 and the outer wall H may be generated. can.

As shown in FIG. 6, the outer wall inspection robot 1 forms the left and right frames 11L and 11R of the outer wall inspection robot 1 with two wire ropes R hung from the hanging device S installed on the roof of the building K. The suspension device S and the weight W at the lower end of the wire rope R are wound around the two pulleys 3A and 3B provided on the aluminum frame 11A a plurality of times (for example, three times) (see FIG. 1). It is arranged so that it can be raised and lowered.

The two wire ropes R suspended from the suspension device S form an angle θ between the upper portion of the outer wall inspection robot 1 (specifically, the guide roller 6 provided at the uppermost portion) and the outer wall H. In this state, the outer wall inspection robot 1 is suspended from the outer wall H so as to be able to move up and down. At this time, a weight W is suspended at the lower end of the wire rope R on the lower side of the outer wall inspection robot 1. With this configuration, in the outer wall inspection robot 1, the horizontal swing of the outer wall inspection robot 1 is regulated by the tension T (white arrow in the figure) of the two wire ropes hanging from the hanging device S. Further, the rotating body 7 provided at one apex 11E (the side where the rotating body 7 and the consultation portion 20 are arranged) of the triangular left and right frames 11L and 11R of the outer wall inspection robot 1 has a constant pressing force P on the outer wall H. Pressed by (black arrow in the figure). This pressing force P suppresses the movement of the outer wall inspection robot 1 to move away from the outer wall H due to a building wind or the like. Further, since a rubber tire or the like is preferably used for the rotating body 7 as described above, a frictional force proportional to the friction coefficient and the pressing force P is generated between the rotating body 7 and the outer wall H. Further, the horizontal shaking of the outer wall inspection robot 1 is suppressed.

At this time, the tension T of the two wire ropes R can be calculated by the formula of "T = (" weight of the outer wall inspection robot 1 "+" weight of the weight W "x 2) / 2cosθ", and the outer wall can be calculated. The pressing force P on the outer wall H applied to the inspection robot 1 can be calculated by the formula of "P = tanθ × (“ weight of the outer wall inspection robot 1 ”+“ weight W ”× 2) / 2”. .. Further, as described above, the weights W have different weights (for example, 2, 4, 6 kg) and are selectively attached to and detached from the lower ends of the two wire ropes R according to the weather conditions. Therefore, by increasing the weight of the weight W, the tension T and the pressing force P can also be increased. With this configuration, the one apex 11E (particularly, the rotating body 7 and the consultation unit 20) and the outer wall H of the triangular left and right frames 11L and 11R of the outer wall inspection robot 1 are always constant according to the weather conditions (mainly wind power). It is possible to realize a stable ascending / descending operation of the outer wall inspection robot 1 on the surface of the outer wall H in a state of being brought into contact with the pressing force P. As a result, it is possible to accurately detect the percussion sound or the sliding sound by the outer wall H and the percussion unit 20, and it is possible to accurately detect the abnormal portion of the outer wall H.

Further, as described above, the left and right frames 11L and 11R constituting the frame body 10 of the present embodiment form a triangle by connecting the respective ends of the three rectangular flat plate-shaped aluminum frames 11A, 11B and 11C. ing. Then, the opposite vertices 11E of the left and right frames 11L and 11R of the triangle are arranged so as to be in contact with the outer wall of the building to be inspected. By making the positions of the connecting ends of the three aluminum frames 11A, 11B, and 11C variable, the opposite vertices of the triangular left and right frames 11L and 11R that come into contact with the outer wall H of the building to be inspected. The angle of 11E can be changed.

Specifically, as shown in FIG. 7, a vertically long elongated hole 11d is provided at a connection point between the upper end of the aluminum frame 11A and one end of the aluminum frame 11B, and the aluminum frame 11B is provided at an arbitrary position of the elongated hole 11d. One end of the can be connected. FIG. 7A shows a case where one end of the aluminum frame 11B is connected at the uppermost end of the elongated hole 11d of the aluminum frame 11A. FIG. 7B shows a case where one end of the aluminum frame 11B is connected at the lowermost end of the elongated hole 11d of the aluminum frame 11A.

By making it possible to change the connection point between the upper end of the aluminum frame 11A and one end of the aluminum frame 11B in this way, in FIG. 7A, the other end of the aluminum frame 11B and the other end of the aluminum frame 11C are connected. The horizontally opposed one apex 11E of the left and right frames 11L and 11R of the triangle composed of the portions has a relatively obtuse angle θ1. In FIG. 7B, the horizontally opposed one apex 11E of the triangular left and right frames 11L and 11R formed by the connecting portion between the other end of the aluminum frame 11B and the other end of the aluminum frame 11C has a relatively acute angle. It becomes θ2.

By making it possible to change the angle of one vertex 11E in this way, it is formed between the upper part (specifically, the guide roller 6 provided at the uppermost part) of the above-mentioned outer wall inspection robot 1 and the outer wall H. The angle θ can be changed. As a result, the tension T generated in the two wire ropes R shown in FIG. 6 described above and the pushing body 7 provided at one apex 11E of the triangular left and right frames 11L and 11R of the outer wall inspection robot 1 are pressed against the outer wall H. The numerical value of the pressure P can also be changed. In FIG. 7A, the angle θ can be made relatively small, and in FIG. 7B, the angle θ can be made relatively large. In this way, by making it possible to adjust the angle θ formed between the upper part of the outer wall inspection robot 1 and the outer wall H according to the condition of the outer wall to be inspected (mainly wind power), it is less susceptible to the influence of wind power. It is possible to perform a stable outer wall and an outer wall inspection by a percussion sound or a sliding sound by the percussion part.

Further, in the present embodiment, the width of the frame body 10 with respect to the outer wall H (specifically, the length of the horizontal frame 12) can be changed. That is, as shown in FIG. 8, the horizontal frame 12 is formed of two types of square cylinders having different sizes, and the square cylinder 12B, which is one size smaller than the square cylinder 12A, is inside the relatively large square cylinder 12A. It can be fitted, and the horizontal frame 12 can be changed to an arbitrary length by fastening and fixing the square cylinder 12B internally fitted to the square cylinder 12A with the fixing screw 12c.

As shown in FIG. 8A, when the length of the square cylinder 12B fitted inside the square cylinder 12A is short, the outer wall inspection robot 1 that is relatively long in the horizontal direction of the outer wall H can be configured. can. Further, as shown in FIG. 8B, when the length of the square cylinder 12B fitted inside the square cylinder 12A is long, the outer wall inspection robot 1 short in the horizontal direction of the outer wall H can be configured. ..

In this way, by making the horizontal lengths of the plurality of (six in the figure) horizontal frames 12 that horizontally connect the left and right frames 11L and 11R constituting the frame main body 10 variable, the construction to be inspected. The outer wall inspection robot 1 can be configured according to the width of the outer wall H of the object. Further, in this case, it is desirable that the arrangement and the number of the percussion rods 21 constituting the percussion unit 20 are also variable according to the horizontal length of the outer wall inspection robot 1.

Finally, the description of the embodiments described above is an example of the present invention, and the present invention is not limited to the above-described embodiments. Therefore, it goes without saying that various changes can be made according to the design and the like as long as the technical idea does not deviate from the technical idea of the present invention, even if the embodiment is other than the above-described embodiment.

1 Exterior wall inspection robot 3A Pulley 3B Pulley 6 Guide roller 7 Rotating body 10 Frame body 11L Left frame 11R Right frame 11A Aluminum frame 11B Aluminum frame 11B Aluminum frame 12 Horizontal frame 16 Sound collecting microphone 20 Consulting part 21 Consulting rod 30 Mounting plate 40 Plate B Battery H Outer wall M1 Drive motor M2 Motor R Wire rope S Suspension device T Radio W Weight

Claims (6)

A frame body is formed by a substantially triangular left and right frame when viewed from the side and a plurality of horizontal frames that horizontally connect the left and right frames.
The left and right frames
Two pulleys that can be rotated by a drive motor,
A plurality of guide rollers for guiding the wire rope to the pulley,
It is equipped with a rotating body that can move up and down the frame body in contact with the outer wall of the building.
The frame body
A percussion part that consults or slides on the outer wall,
A sound collecting microphone that collects the percussion sound or sliding sound of the outer wall by the percussion unit, and
A wireless transmitter / receiver that wirelessly transmits the percussion sound or sliding sound picked up by the sound collecting microphone, and also wirelessly receives the external operation signal of the driving motor and the percussion unit.
A drive motor, a consultation unit, and a power supply unit that supplies electric power to the wireless transceiver are provided.
Two wire ropes hung from the roof on the outer wall of the building according to the distance between the left and right frames are wound around the pulleys of the left and right frames, and the drive motor is received in response to an external operation signal received by the wireless transmitter / receiver. An outer wall inspection robot characterized in that the frame body can move up and down the outer wall of a building by rotating the frame. The percussion section
Equipped with at least one percussion stick to percuss the outer wall,
The frame body is pushed up and down in a state where the consultation sound between the tip of the consultation rod and the outer wall generated by displaced the consultation rod in the horizontal direction or the tip of the consultation rod on the outer wall side is pressed against the outer wall. The building outer wall inspection robot according to claim 1, wherein the state of the outer wall of the building is diagnosed by the sliding sound between the tip of the consultation rod and the outer wall generated by moving the building. The frame body
Provide at least one infrared light in a position and orientation that can be imaged by an infrared camera installed on the ground.
The building outer wall inspection robot according to claim 1 or 2, wherein the infrared light is imaged by the infrared camera to determine the position of the outer wall inspection robot with respect to the outer wall. The one according to any one of claims 1 to 3, wherein the consultation portion is arranged at a position where the centers of the rotating bodies provided on the left and right frames are connected in a straight line in the horizontal direction. Building exterior wall inspection robot. The exterior wall inspection robot for a building according to any one of claims 1 to 4, wherein the plurality of guide rollers of the left and right frames each include a wire rope detachment prevention cover. The building according to any one of claims 1 to 5, wherein weights having different weights can be hung from the lower ends of two wire ropes hanging from the roof on the outer wall. Exterior wall inspection robot.

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