WO2020137985A1

WO2020137985A1 - Wall surface traveling device

Info

Publication number: WO2020137985A1
Application number: PCT/JP2019/050389
Authority: WO
Inventors: 佐藤　順一
Original assignee: 株式会社サトペン
Priority date: 2018-12-26
Filing date: 2019-12-23
Publication date: 2020-07-02

Abstract

The present invention is directed toward improving the stability of a wall surface traveling device when traveling on a wall surface. A wall surface traveling device 10 according to one embodiment of the present invention is configured to be capable of traveling on a wall surface 12W of a building by being pressed against the wall surface by means of a tension member 20 stretched along the wall surface. The wall surface traveling device is provided with: a travel unit 30 configured to travel along the wall surface; a contact unit 32 configured to come into contact with the tension member; a run-out detecting device 56 configured to detect run-out of the contact unit with respect to the tension member, in a second direction orthogonal to a first direction in which the tension member is stretched; a steering device 40 configured to change the orientation of a wheel of the travel unit; and a steering control unit 80 for controlling the operation of the steering device in such a way as to suppress the run-out detected by the run-out detecting device.

Description

Wall traveling device

The present invention relates to a wall surface traveling device configured to travel on a wall surface of a building or the like.

Conventionally, wall surface cleaning equipment has been developed for cleaning the wall surfaces of buildings and other structures. For example, Patent Document 1 discloses an example of a wall surface cleaning device. In this wall surface cleaning device, a tension belt is attached to the rear wall of the casing in which the cleaning pipe is arranged. The tension belt is stretched by fixing its tip end to the roof and fixing its base end to the ground. Then, according to the description in Patent Document 1, the casing is pressed against the wall surface side by the tension of the tension belt, and the opening portion of the casing is brought into close contact with the wall surface as much as possible.

Japanese Patent Laid-Open No. 10-33440

By the way, the wall washer moves between the rooftop and the ground of a building under the pressure of a tension belt stretched over the wall of a building such as a building. However, no special traveling control mechanism is provided in the left-right direction along the wall surface, which is orthogonal to the direction connecting the roof and the ground. Therefore, when the wall surface cleaning device shakes to the left and right of the wall surface, there is a limit to suppressing the shake.

Further, when the wall washer of Patent Document 1 is near the roof of a wall surface of a building such as a building, near the ground, or in the middle thereof, there is a difference in the distance between the tension belt and the wall surface. The pressing force on the casing of the wall washer changes. Such a change in the pressing force causes a problem in terms of stability of the wall surface cleaning machine in traveling on the wall surface.

Therefore, the present invention was conceived in view of at least one of the above problems, and an object thereof is to enhance the stability of a wall surface traveling device such as a wall surface cleaning device when traveling on a wall surface.

In order to achieve the above object, a first aspect of the present invention is
A wall surface traveling device configured to be capable of traveling on the wall surface by being pressed against the wall surface by a tension member stretched on the wall surface of a building,
A traveling unit configured to travel on the wall surface;
A contact portion configured to contact the tension member,
A shake detection device configured to detect a shake of the contact portion with respect to the tension member in a second direction orthogonal to the first direction in which the tension member is stretched,
A steering device configured to change the direction of the wheels of the traveling unit,
There is provided a wall surface traveling device including a steering control unit configured to control the operation of the steering device so as to suppress the shake detected by the shake detecting device.

A weight balance adjusting device configured to change the state of the weight balance adjusting member, and a weight balance configured to control the operation of the weight balance adjusting device so as to suppress the shake detected by the shake detecting device. A control unit may be further provided.

A second aspect of the present invention is
A wall surface traveling device configured to be capable of traveling on the wall surface by being pressed against the wall surface by a tension member stretched on the wall surface of a building,
A traveling unit configured to travel on the wall surface;
A contact portion configured to contact the tension member,
A shake detection device configured to detect a shake of the contact portion with respect to the tension member in a second direction orthogonal to the first direction in which the tension member is stretched,
A weight balance adjusting device configured to change the state of the weight balance adjusting member,
There is provided a wall surface traveling device including a weight balance control unit configured to control the operation of the weight balance adjusting device so as to suppress the shake detected by the shake detecting device.

For example, the weight balance adjusting device may include a hose direction adjusting device configured to change the direction of a hose member provided so that the fluid supplied to the wall surface traveling device toward the wall surface flows. Traveling device

Preferably, the wall surface traveling device described above is provided between the traveling portion and the contact portion, and an expansion/contraction device configured to make a distance between the traveling portion and the contact portion variable, A pressing force detection device configured to detect a pressing force from the tension member to the wall surface traveling device, and an operation of the expansion device so that the pressing force detected by the pressing force detection device becomes a predetermined pressing force. And a stretch control configured to control.

Preferably, the contact portion is provided between an inner member connected to the expansion device, an outer member located outside the inner member and in contact with the tension member, and between the inner member and the outer member. And an elastic member. In this case, the pressing force detection device may be provided between the inner member and the outer member.

The elastic device may include an elastic member that is provided so as to make the distance between the traveling unit and the contact unit variable, and an expansion/contraction device that causes the elastic member to expand and contract.

Further, a third aspect of the present invention is
A wall surface traveling device configured to be capable of traveling on the wall surface by being pressed against the wall surface by a tension member stretched on the wall surface of a building,
A traveling unit configured to travel on the wall surface;
A contact portion configured to contact the tension member,
An expansion/contraction device that is provided between the traveling portion and the contact portion and is configured to change the distance between the traveling portion and the contact portion,
A pressing force detection device configured to detect a pressing force from the tension member to the wall surface traveling device,
There is provided a wall surface traveling device including: an expansion/contraction control unit configured to control the operation of the expansion/contraction device such that the pressing force detected by the pressing force detection device becomes a predetermined pressing force.

Preferably, in the third aspect, the contact portion includes an inner member connected to the expansion device, an outer member positioned outside the inner member and contacting the tension member, the inner member and the outer member. And an elastic member provided between the member and the member. In this case, the pressing force detection device may be provided between the inner member and the outer member.

In addition, in the third aspect, the expansion/contraction device includes an expansion/contraction member provided so as to make a distance between the traveling portion and the contact portion variable, and an expansion/contraction generating device for causing expansion/contraction of the expansion/contraction member. You may. In this case, the expansion/contraction member of the expansion/contraction device may be a jack portion, and the expansion/contraction generation device of the expansion/contraction device may be an electric cylinder.

According to the wall surface traveling device according to the first aspect, the second aspect, or the third aspect of the present invention, since the above configuration is provided, it is possible to enhance the stability of the wall surface traveling.

It is a schematic block diagram which shows the use condition of the wall surface cleaning apparatus as a wall surface traveling apparatus which concerns on one Embodiment of this invention. FIG. 2 is an enlarged view of the wall surface cleaning device of FIG. 1 in use. It is explanatory drawing of the system of the shake suppression of the wall surface washing apparatus of FIG. It is a flowchart of the pressing force control of the wall surface cleaning apparatus of FIG. It is a flowchart of the shake suppression control of the wall surface cleaning apparatus of FIG. It is explanatory drawing of the shake suppression control of FIG. 5, and is explanatory drawing of changing the direction of a hose guide part. It is explanatory drawing of the shake suppression control of FIG. 5, and is explanatory drawing of changing the direction of a tire. It is explanatory drawing of the shake suppression control of FIG. 5, and is explanatory drawing of changing the direction of a tire.

Embodiments according to the present invention will be described below with reference to the accompanying drawings. The same parts (or configurations) are given the same reference numerals, and their names and functions are also the same. Therefore, detailed description thereof will not be repeated.

FIG. 1 is a diagram showing an example of a usage state of a wall surface cleaning device 10 as a wall surface traveling device according to an embodiment of the present invention. In FIG. 1, the wall surface cleaning device 10 is set to run on the outer wall of the building 12 that is a building, that is, the wall surface 12W. A winch 14, which is a suspension device, is disposed on the rooftop 12R, which is the uppermost part of the building 12. The winch 14 is attached to a first fixing portion 18 which is fixed to the roof 12R by a weight, here a tank 16 containing water. The wire 19 extending from the winch 14 is connected to the wall surface cleaning device 10. The wall surface cleaning device 10 is suspended by the winch 14 so as to be lifted and lowered, and is lifted and lowered along the wall surface 12W of the building 12 to clean the wall surface 12W.

On the other hand, a tension wire 20 as a tension member is stretched on the wall surface 12W of the building 12. One end 20a of the tension wire 20 is connected to the fixed portion 18 of the roof 12R of the building 12, and the other end 20b is connected to the second fixed portion 22 on the ground. The second fixing portion 22 is fixed to the ground by a weight here, a tank 24 containing water. The wall surface cleaning device 10 suspended along the wall surface 12W is sandwiched between the wall surface 12W and the tension wire 20 so that the tension wire 20 receives a pressing force from the tension wire 20 and presses it against the wall surface 12W. ing. As a result, the wall surface cleaning device 10 comes into close contact with the wall surface 12W and can run along the wall surface 12W. The tension member is not limited to the tension wire 20, and may be a tension belt, for example.

In this way, the wall surface cleaning device 10 is configured to be able to run on the wall surface 12W by being pressed against the wall surface 12W by the pressing force of the tension wire 20 stretched on the wall surface 12W of the building 12, which is a building. The wall surface cleaning device 10 includes a traveling unit 30, a contact unit 32 configured to come into contact with the tension wire 20, and an expansion/contraction device 34 provided between the traveling unit 30 and the contact unit 32. The wall surface cleaning device 10 is configured such that the tension wire 20 substantially contacts only the contact portion 32 and is kept in non-contact with the traveling portion 30. In the following, regarding the configuration of the wall surface cleaning device 10, FIG. 1 and an enlarged view of the wall surface cleaning device 10 and its surroundings in the same usage state as FIG. 1 but in a position where the wall surface cleaning device 10 is different from that in FIG. 1. Will be described with reference to FIG.

The running unit 30 is configured to run on the wall surface 12W. The traveling unit 30 includes a tire (wheel) 36 and a pedestal portion 38 to which the tire (wheel) 36 is attached. The pedestal portion 38 is provided with a pedestal base portion 38a which is substantially parallel to the wall surface 12W in the use state of FIGS. A wire 19 extending from the winch 14 is connected to the pedestal tip 38b side of the pedestal 38 of the traveling unit 30. The traveling unit 30 includes four tires 36 on a pedestal base portion 38 a of the pedestal portion 38. However, the number of tires 36 may be less or more than four. In the vertical direction in which the tension wire 20 is stretched, that is, in the vertical direction D1 in FIGS. 1 and 2, two tires 36A located on the upper side (only one tire 36A is shown in FIGS. 1 and 2). .) is fixed to the pedestal portion 38, and its orientation is fixed. Two tires 36B located on the lower side in the vertical direction D1 in FIGS. 1 and 2 (only one tire 36B is shown in FIGS. 1 and 2) are also fixed to the pedestal portion 38, Is variably configured. In particular, the direction of the tire 36B is variable in the steering device 40, that is, by the steering mechanism. As shown in FIG. 3, the steering device 40 includes a link mechanism 42 that interlocks the two tires 36B, and a motor 44 that operates the link mechanism 42. The vertical direction D1 corresponds to the first direction. However, the first direction is not limited to the vertical direction, that is, the vertical direction in FIGS. 1 and 2, and may be, for example, a direction obliquely inclined with respect to the vertical direction.

The contact part 32 is configured to contact the tension wire 20. The contact portion 32 is attached to the pedestal portion 38 of the traveling portion 30 via the expansion/contraction device 34, particularly to the pedestal base portion 38a of the pedestal portion 38 that is substantially parallel to the wall surface 12W. The contact portion 32 includes an inner member 46 connected to the expansion/contraction device 34, an outer member 48 located outside the inner member 46 and in contact with the tension wire 20, and between the inner member 46 and the outer member 48. And a spring 50 which is an elastic member provided. The outer member 48 has an outer plate-shaped portion 48a and

rollers

48b and 48c provided outside the outer plate-shaped portion 48a. The tension wire 20 slides on the outer member 48 along the

rollers

48b and 48c of the outer member 48. The inner member 46 and the outer plate-shaped portion 48a of the outer member 48 are plate-shaped members, and their intervals are variable. In the wall surface cleaning device 10 in the used state shown in FIGS. 1 and 2, the inner member 46 and the outer member 48 are movable in the right-angled direction D2, which is a direction substantially perpendicular to the wall surface 12W, by providing the expansion/contraction device 34. Since the spring 50 is provided, the distance between them is also variable in the perpendicular direction D2.

The contact portion 32 is provided with a pressing force detection device 51. The pressing force detection device 51 is configured to detect the pressing force from the tension wire 20 to the wall surface cleaning device 10. In the present embodiment, the pressing force detection device 51 is provided between the inner member 46 and the outer member 48, and the pressure therein, that is, the pressing force, has a predetermined width around the reference pressure based on the spring force of the spring 50. It is possible to detect whether it is larger than the upper limit value of the predetermined pressure range having the above or smaller than the lower limit value of the predetermined pressure range. That is, the pressing force detection device 51 can detect whether the pressing force between the inner member 46 and the outer member 48 is outside the predetermined pressure range. More specifically, the pressing force detection device 51 has two

switches

51a and 51b, and when the pressing force is larger than the upper limit value of the predetermined pressure range, one of the switches is turned on and When the pressing force is smaller than the lower limit value of the pressure range, the other switch of them is turned on. When the pressing force is within the predetermined pressure range, both the two

switches

51a and 51b are in the OFF state. However, the pressing force detection device 51 is not limited to having such a configuration, and may have a configuration including various known pressure sensors.

The expansion/contraction device 34 is provided between the traveling unit 30 and the contact unit 32, and is provided so as to make the interval between the traveling unit 30 and the contact unit 32 variable. In particular, the expansion/contraction device 34 is provided so that the distance between the traveling portion 30 and the contact portion 32 can be varied in the perpendicular direction D2. As shown in FIG. 2, the expansion/contraction device 34 is provided with a jack part 52 as an expansion/contraction member which is provided so as to make the interval between the traveling part 30 and the contact part 32 variable, and for expanding/contracting the jack part 52. It has an electric cylinder 54 as an expansion and contraction generator. The electric cylinder 54 includes a ball screw, a linear guide, and a motor 55. An air cylinder, a hydraulic cylinder, or the like may be used as the expansion/contraction generating device. One end of the jack portion 52 is connected to the pedestal base portion 38 a of the pedestal portion 38 of the traveling portion 30, and the other end of the jack portion 52 is connected to the inner member 46 of the contact portion 32. Since the length of the jack portion 52 is variable, the pedestal base portion 38a and the inner member 46 include a slide portion 52a that allows sliding movement in the vertical direction in FIGS. 1 and 2 according to expansion and contraction of the

jack portion

52, 52b is provided. One end of the electric cylinder 54 is fixed to the pedestal base portion 38a, and the electric cylinder 54 is rotatable around the pedestal side fulcrum portion 54a. The other end of the electric cylinder 54 is attached to one node portion 52c of the jack portion 52, and the electric cylinder 54 is rotatable around the jack side fulcrum portion 54b. The extension of the electric cylinder 54 extends the length of the jack portion 52 in the right-angle direction D2, and the shortening of the electric cylinder 54 reduces the length of the jack portion 52 in the right-angle direction D2.

Further, the wall surface cleaning device 10 can travel on the wall surface 12W by being pressed against the wall surface 12W by the pressing force of the tension wire 20, but in a direction orthogonal to the vertical direction D1 and the orthogonal direction D2, that is, the paper surface in FIGS. 1 and 2. A configuration is provided that makes it possible to suppress shake in the left-right direction D3 (see FIG. 3) that is a direction orthogonal to the direction. First, in order to detect such a shake, the wall surface cleaning device 10 detects a shake of the contact portion 32 with respect to the tension wire 20 in a horizontal direction D3 orthogonal to the vertical direction D1 in which the tension wire 20 is stretched. A device 56 is provided. The left-right direction D3 corresponds to the second direction. The second direction is a direction orthogonal to the first direction, and may be a direction along the wall surface 12W.

The shake detection device 56 includes a detection unit main body 58 and an extension detection unit 60 extending from the detection unit main body 58. The detection section main body 58 is fixed to the outer member 48 of the contact section 32. The free end of the extension detector 60 is in sliding contact with the tension wire 20. In the present embodiment, the free end of the extension detector 60 is formed in a ring shape so as not to come off the tension wire 20. Note that the free end of the extension detection unit 60 may have another configuration or shape, for example, a hook shape. Therefore, the shake detection device 56 can detect the shake or deviation of the contact portion 32 of the wall surface cleaning device 10 with respect to the tension wire 20 according to the relative relationship between the wall surface cleaning device 10 and the tension wire 20. The detection unit main body 58 has two

switches

58a and 58b, and one of the

switches

58a and 58b is selected depending on the movement or position of the free end of the extension detection unit 60 caused by the inclination or shake of the contact portion 32. Can be turned on. When the wall surface cleaning device 10 travels straight on the wall surface 12W with respect to the tension wire 20, that is, along the vertical direction D1, both of the two

switches

58a and 58b of the detection unit main body 58 are in the OFF state.

And, as the name implies, the wall surface cleaning device 10 has a function of cleaning the wall surface. A hose member 66 of the wall surface cleaning device 10 is connected to a hose member 66 through which a cleaning liquid having a predetermined pressure or higher, that is, a high pressure, which is pumped from a pump 64, flows. The hose direction adjusting device 62 is provided on the pedestal portion 38 of the traveling unit 30. The hose direction adjusting device 62 has a drive main body portion 68 provided on the pedestal base portion 38 a and a hose guide portion 70 extending from the drive main body portion 68. The hose member 66 corresponds to a weight balance adjusting member having a function of adjusting the weight balance of the wall surface cleaning device 10, and the hose direction adjusting device 62 is configured to change the state of the weight balance adjusting member. Corresponds to the adjusting device.

1 and 2, the hose guide portion 70 extends vertically downward from the drive body portion 68. A part of the hose member 66 through which the cleaning liquid flows passes through the inside of the hose guide portion 70, and a part of the hose member 66 is arranged along the traveling portion 30 and is provided near the pedestal tip portion 30b of the traveling portion 30. It is connected to the cleaning nozzle 72. Therefore, in the use state shown in FIGS. 1 and 2, the wall surface cleaning device 10 can supply the cleaning liquid pumped from the pump 64 to the wall surface 12W by injecting it from the cleaning nozzle 72. Note that the wall surface cleaning device 10 can be provided with various cleaning nozzles at various positions. In addition, the wall surface cleaning device 10 includes, as shown in FIG. 1, a recovery device or a waste liquid treatment device 73 (not shown in FIG. 2) that recovers the sprayed cleaning liquid.

The drive body 68 of the hose direction adjusting device 62 includes a motor 74 for adjusting the direction of the hose guide 70. By driving the motor 74, the hose guide portion 70 can be rotated around the drive main body portion 68 within a predetermined range around the drive main body portion 68.

The wall surface cleaning device 10 has a control device 80. The control device 80 includes, for example, an arithmetic unit such as a CPU, a storage device such as a ROM and a RAM, and an input/output device, and is configured as a so-called computer. The pressing force detection device 51 and the shake detection device 56 are connected to the control device 80. The controller 80 is connected to the motor 44, the motor 55, and the motor 74. The control device 80 stores predetermined programs and data corresponding to each in order to perform pressing force control, that is, expansion/contraction control, and shake suppression control, which will be described later. That is, the control device 80 has a functional unit that functions as an expansion/contraction control unit configured to control the operation of the expansion/contraction device 34 so that the pressing force detected by the pressing force detection device 51 becomes a predetermined pressing force. Have. The control device 80 also has a functional unit that functions as a shake suppression control unit. The shake suppression control includes steering control and hose direction control. That is, the control device 80 has a functional unit that functions as a steering control unit configured to control the operation of the steering device 40 so as to suppress the shake detected by the shake detection device 56 to a predetermined value or less. .. Further, the control device 80 is a functional unit having a function as a hose direction control unit configured to control the operation of the hose direction adjusting device 62 so as to suppress the shake detected by the shake detecting device 56 to a predetermined value or less. Have. However, the hose direction control unit is an example of a weight balance control unit configured to control the operation of the weight balance adjusting device so as to suppress the shake detected by the shake detecting device 56. Note that the control device 80 is not limited to having such a configuration, and even if a part or all of the control device 80 is replaced by a relay circuit that operates according to signals from the pressing force detection device 51 and the shake detection device 56. Good.

Control of the operation of the expansion/contraction device 34, more specifically, the operation of the electric cylinder 54, that is, the pressing force control (expansion/contraction control) based on the pressing force detected by the pressing force detection device 51 will be described with reference to FIG. .. When the pressing force detected by the pressing force detection device 51 is larger than the upper limit value of the predetermined pressure range (affirmative determination in step S401), the pressing force is adjusted to a pressure within the predetermined pressure range, that is, a predetermined pressing force. As described above, the control device 80 controls the operation of the electric cylinder 54, that is, the operation of the motor 55 in order to reduce the length of the jack portion 52 in the perpendicular direction D2 (step S403). When the pressing force detected by the pressing force detection device 51 is smaller than the lower limit value of the predetermined pressure range (negative determination in step S401 and affirmative determination in step S405), the pressing force is set within the predetermined pressure range, that is, the predetermined pressure range. The control device 80 controls the operation of the electric cylinder 54, that is, the operation of the motor 55 in order to extend the length of the jack portion 52 in the right-angled direction D2 so as to adjust the pressing force of (step S407). Then, when the pressing force detected by the pressing force detection device 51 is within the predetermined pressure range, that is, when no detection signal is generated by the pressing force detection device 51 in the present embodiment (negative determination in step S401 and step The negative determination is made in S405), the control device 80 does not particularly control the operation of the electric cylinder 54, that is, the operation of the motor 55.

Next, the control of the steering device 40 in the shake suppression control based on the shake detected by the shake detecting device 56 will be described with reference to FIGS. 3, 5 and 6. First, a case will be described with reference to FIG. 3 in which the wall surface cleaning device 10 is not shaken in the left-right direction D3 to some extent. When the wall surface cleaning device 10 is not shaken in the left-right direction D3 to a certain extent or more, in FIG. 3, the extension detection unit 60 of the wall surface cleaning device 10 is substantially straight in the vertical direction along the tension wire 20. Since the contact portion 32 of the wall surface cleaning device 10 is also substantially straight along the tension wire 20, the

switches

58a and 58b of the detection portion main body 58 are both OFF. At this time, the motor 44 of the steering device 40 is controlled so that the tire 36B is straightened as shown in FIG. However, when the contact portion 32 of the wall surface cleaning device 10 swings with respect to the tension wire 20 as indicated by an arrow A1 in FIG. 3, the extension detection portion 60 engaged with the tension wire 20 causes the extension detection part 60 to contact the wall surface cleaning device 10. Since it tilts with respect to the portion 32, either of the

switches

58a and 58b is turned on. At this time, the control device 80 controls the motor 44 of the steering device 40 so as to suppress the shake.

By the shake detection device 56, for example, during the downward movement, the contact portion 32 of the wall surface cleaning device 10 is shaken to the left, that is, the extension detection portion 60 is inclined to the S1 side with respect to the contact portion 32 of the wall surface cleaning device 10. When the shake of 32 is detected (affirmative determination in step S501), the motor 44 of the steering device 40 is controlled so as to suppress the shake on the left side (step S503). For example, the motor 44 is controlled to change the direction of the tire 36B as shown in FIG. 6C in order to correct the trajectory of the wall surface cleaning device 10 in the opposite direction. By the shake detection device 56, for example, during the downward movement, the contact portion 32 of the wall surface cleaning device 10 is shaken to the right side, that is, the extension detection portion 60 is inclined to the S2 side with respect to the contact portion 32 of the wall surface cleaning device 10. When the shake of 32 is detected (negative determination in step S501 and positive determination in step S505), the motor 44 of the steering device 40 is controlled so as to suppress the shake on the right side (step S507). For example, the motor 44 is controlled to change the direction of the tire 36B as shown in FIG. 6B in order to correct the trajectory of the wall surface cleaning device 10 in the opposite direction. When the wall surface cleaning device 10 is moving up the wall surface 12W, the tire 36B is controlled in the opposite direction to those in step S503 and step S507. Then, when the shake detected by the shake detecting device 56 is within a predetermined range, that is, when no detection signal is generated by the touch detecting device 56 in the present embodiment (negative determination in step S501 and negative determination in step S505). The control device 80 controls the motor 44 of the steering device 40 so that the direction of the tire 36 is in a straight neutral state as shown in FIG. Here, the program is constructed so that the control of the motor 44 to be in the neutral state is automatically performed when the negative determination is made in step S501 and step S505. For example, when a negative determination is made in step S505, the step of “neutral state control” before proceeding to the next routine may be provided in the flowchart of FIG. In this case, the step of "neutral state control" is reached, and the motor 44 of the steering device 40 is controlled so that the direction of the tire 36 becomes a straight neutral state as shown in FIG.

Further, the control of the hose direction adjusting device 62 in the shake suppression control based on the shake detected by the shake detecting device 56 will be described with reference to FIGS. 3, 5 and 6. First, a case will be described with reference to FIG. 3 where the wall surface cleaning device 10 is not shaken in the left-right direction to some extent in the initial state. In the initial state such as the cleaning start stage, when the wall cleaning device 10 is not shaken in the left-right direction to a certain extent or more, the extension detection unit 60 of the wall cleaning device 10 is moved along the tension wire 20 as shown in FIG. Since the contact portion 32 of the wall surface cleaning device 10 is also substantially straight along the tension wire 20 in a state of being substantially straight in the vertical direction, that is, in the vertical direction D1, the

switches

58a and 58b of the detecting portion main body 58 are not connected to each other. Is also OFF. At this time, the motor 74 of the hose direction adjusting device 62 is controlled so that the hose guide portion 70 of the hose direction adjusting device 62 becomes substantially straight in the vertical direction, that is, the vertical direction D1, as shown in FIG. However, when the wall surface cleaning device 10 swings as indicated by an arrow A1 in FIG. 3, the extension detection part 60 engaged with the tension wire 20 is inclined with respect to the contact part 32 of the wall surface cleaning device 10, and therefore the switch 58a. , 58b is turned on. At this time, the control device 80 controls the motor 74 of the hose direction adjusting device 62 so as to suppress the shake.

By the shake detection device 56, for example, during the downward movement, the contact portion 32 of the wall surface cleaning device 10 is shaken to the left, that is, the extension detection portion 60 is inclined to the S1 side with respect to the contact portion 32 of the wall surface cleaning device 10. When the shake of 32 is detected (affirmative determination in step S501), the motor 74 of the hose direction adjusting device 62 is controlled so as to suppress the shake on the left side (step S503). In the present embodiment, the motor 74 is controlled so that the hose guide portion 70 is directed to the left side S4 as shown in FIG. 6A in order to suppress the swing by keeping the weight balance of the wall surface cleaning device 10 suitable. .. By the shake detection device 56, for example, during the downward movement, the contact portion 32 of the wall surface cleaning device 10 is shaken to the right side, that is, the extension detection portion 60 is inclined to the S2 side with respect to the contact portion 32 of the wall surface cleaning device 10. When the shake of 32 is detected (negative determination in step S501 and positive determination in step S505), the motor 74 of the hose direction adjusting device 62 is controlled so as to suppress the shake on the right side (step S507). In the present embodiment, as shown in FIG. 6A, the motor 74 is controlled so that the hose guide portion 70 faces the right side S3. Then, when the shake detected by the shake detecting device 56 is within a predetermined range, that is, when no detection signal is generated by the touch detecting device 56 in the present embodiment (negative determination in step S501 and negative determination in step S505). The control device 80 controls the motor 74 of the hose direction adjusting device 62 so as to keep the orientation of the hose guide portion 70 unchanged. The control of the motor 74 at this time includes non-control.

The relationship between the control of the motor 44 of the steering device 40 and the control of the motor 74 of the hose direction adjusting device 62 will be further described here. The

motors

44 and 74 are controlled as described above, for example, from the relationship between the responsiveness of the steering device 40 and the responsiveness of the hose direction adjusting device 62. The motor 44 of the steering device 40 is controlled so as to suppress the shake when the shake is detected by the shake detecting device 56, and when the shake is suppressed, that is, when the shake is not detected, as shown in FIG. The direction of 36 is controlled so as to be in a straight neutral state. On the other hand, when the shake detection device 56 detects a shake, the motor 74 of the hose direction adjusting device 62 controls to change the direction of the hose guide portion 70 so as to suppress the shake by adjusting the weight balance. When the shake is suppressed, that is, when the shake is not detected, the hose guide portion 70 is controlled so as to maintain the orientation of the hose guide portion 70 in the state at that time. In the present embodiment, the control of the shake by the steering device is related to the control of the shake by the hose direction adjusting device 62, and is executed so as to assist the control of the shake by the hose direction adjusting device 62. However, these controls may have the opposite relationship, or may be performed independently of each other.

The effects of the wall surface cleaning device 10 having the above configuration will be described below.

In the wall surface cleaning device 10, when the shake detection device 56 detects a shake in the left-right direction D3 of the wall surface cleaning device 10, the motor 44 of the steering device 40 is controlled so as to suppress the shake, as described above. Therefore, the shake of the wall surface cleaning device 10 can be suppressed. Therefore, it becomes possible to improve the stability of the wall surface cleaning device 10 in traveling on the wall surface.

Further, in the wall surface cleaning device 10, when the shake detection device 56 detects a shake in the left-right direction D3 of the wall surface cleaning device 10, the motor 74 of the hose direction adjusting device 62 controls the shake so as to suppress the shake, as described above. Controlled. As a result, the direction of the hose guide portion 70 can be changed. By changing the direction of the hose guide portion 70, the direction of the hose member 66 through which the cleaning liquid having a pressure equal to or higher than a predetermined pressure flows is changed, and the weight balance of the wall surface cleaning device 10 is changed. Therefore, the shake of the wall surface cleaning device 10 can be suppressed. Therefore, it becomes possible to further enhance the stability of the wall surface cleaning device 10 in traveling on the wall surface.

Further, in the wall surface traveling device 10 according to the above-described embodiment, as described above, when the shake is detected, the motor 44 of the steering device 40 and the motor 74 of the hose direction suppressing device 62 are controlled so as to suppress the shake. And are controlled together. When the shake is suppressed, that is, when the shake is not detected, the motor 44 of the steering device 40 is controlled so that the tires 36 are oriented straight as shown in FIG. 74 is controlled so as to maintain the orientation of the hose guide portion 70 while maintaining the current state. Therefore, the detected shake is quickly suppressed by the control of the motor 44 of the steering device 40, and is stably suppressed by the control of the motor 74 of the hose direction adjusting device 62.

Further, in the wall surface cleaning device 10, as shown in FIGS. 1 and 2, when the wall surface cleaning device 10 is in use, that is, when the wall surface cleaning device 10 is in operation, the tension wire 20 is fixed above and below the tension wire 20. Is constant, the force exerted from the tension wire 20 to the wall surface cleaning device 10, that is, the pressing force, changes during the process in which the wall surface cleaning device 10 descends from near the roof to near the ground, for example. In the wall surface cleaning device 10 of the present embodiment, as described above, the operation of the expansion/contraction device 34 is controlled so that the pressing force from the tension wire 20 falls within the predetermined range, that is, the predetermined pressing force. Therefore, it is possible to further improve the stability of the wall surface cleaning device 10 in traveling on the wall surface.

Further, in the wall surface cleaning device 10, the contact portion is provided between the inner member connected to the expansion/contraction device, the outer member located outside the inner member and in contact with the tension wire, and between the inner member and the outer member. And a pressing force detecting device provided between the inner member and the outer member. Therefore, it is possible to more appropriately detect the pressing force while flexibly responding to the pressing force applied by the tension wire 20. Therefore, the expansion/contraction control described above can be more suitably performed.

Further, in the above embodiment, the expansion/contraction device 34 has the jack part 52 as an expansion/contraction member and the electric cylinder 54 as an expansion/contraction device for causing expansion/contraction of the jack part 52. Therefore, the length of the wall surface cleaning device 10 in the perpendicular direction D2 can be variously changed by the expansion/contraction device 34, and the expansion/contraction device 34 can firmly withstand the pressing force of the tension wire 20.

The representative embodiments and modifications of the present invention have been described above, but the present invention can be modified in various ways. Various substitutions and changes can be made without departing from the spirit and scope of the present invention defined by the claims of the present application.

For example, the wall surface traveling device according to the above-described embodiment is a wall surface cleaning device, but the present invention may be applied to devices having other uses or functions. For example, the present invention may be applied to a device for painting wall surfaces.

In the above embodiment, the hose member 66 corresponds to the weight balance adjusting member, and the hose direction adjusting device 62 corresponds to the weight balance adjusting device. However, the weight balance adjusting member is not limited to the hose member 66 through which the cleaning liquid flows. For example, the weight balance adjusting member may be a hose member through which the paint, that is, the fluid that is applied, that is, supplied toward the wall surface, flows when the wall surface traveling device 10 is a paint application device. Further, the weight balance adjusting member may be a simple weight such as one or a plurality of sand bags or metal lumps. The weight balance adjusting device may have various configurations so as to change the weight balance of the wall surface traveling device by changing the state of the weight balance adjusting member, for example, the direction or position of the wall surface traveling device. Then, the weight balance control unit of the control device 80 may be configured to control the weight balance adjusting device.

Further, only one of the steering device 40 and the weight balance adjusting device may be controlled so as to suppress the shake detected by the shake detecting device 56. The operations of the steering device 40 and the weight balance adjusting device may be variously combined so as to suppress the shake. Further, in order to suppress the shake, only one of the steering device 40 and the weight balance adjusting device may be provided in the wall surface traveling device.

Further, in the wall surface cleaning device 10 of the above-described embodiment, the expansion/contraction device 34 is provided between the traveling part and the contact part, but the expansion/contraction device 34 may not be provided. Further, for example, the expansion/contraction device 34 includes the jack portion 52 and the electric cylinder 54, but may be configured to include only the electric cylinder 54. Further, the number of the electric cylinders 54 is not limited to one and may be plural.

10 Wall Surface Cleaning Device 12W Wall Surface 20 Tension Wire 30 Traveling Part 32 Contact Part 34 Expansion/Contraction Device 51 Pressing Force Detection Device 52 Jack Part 54 Electric Cylinder 56 Shake Detection Device 72 Cleaning Nozzle

Claims

A wall surface traveling device configured to be capable of traveling on the wall surface by being pressed against the wall surface by a tension member stretched on the wall surface of a building,
A traveling unit configured to travel on the wall surface;
A contact portion configured to contact the tension member,
A shake detection device configured to detect a shake of the contact portion with respect to the tension member in a second direction orthogonal to the first direction in which the tension member is stretched,
A steering device configured to change the direction of the wheels of the traveling unit,
A wall surface traveling device, comprising: a steering control unit configured to control the operation of the steering device so as to suppress the shake detected by the shake detecting device.
A weight balance adjusting device configured to change the state of the weight balance adjusting member,
The wall surface traveling device according to claim 1, further comprising: a weight balance control unit configured to control the operation of the weight balance adjusting device so as to suppress the shake detected by the shake detecting device.
A wall surface traveling device configured to be capable of traveling on the wall surface by being pressed against the wall surface by a tension member stretched on the wall surface of a building,
A traveling unit configured to travel on the wall surface;
A contact portion configured to contact the tension member,
A shake detection device configured to detect a shake of the contact portion with respect to the tension member in a second direction orthogonal to the first direction in which the tension member is stretched,
A weight balance adjusting device configured to change the state of the weight balance adjusting member,
A wall surface traveling device comprising: a weight balance control unit configured to control the operation of the weight balance adjusting device so as to suppress the shake detected by the shake detecting device.
The weight balance adjusting device includes a hose direction adjusting device configured to change the direction of a hose member provided so that the fluid supplied to the wall surface traveling device toward the wall surface flows.
The wall surface traveling device according to claim 2 or 3.
An expansion/contraction device that is provided between the traveling portion and the contact portion and is configured to change the distance between the traveling portion and the contact portion,
A pressing force detection device configured to detect a pressing force from the tension member to the wall surface traveling device,
5. The expansion/contraction control unit configured to control the operation of the expansion/contraction device so that the pressing force detected by the pressing force detection device becomes a predetermined pressing force. The wall surface traveling device according to the item.
The contact portion includes an inner member connected to the expansion device, an outer member located outside the inner member and in contact with the tension member, and an elastic member provided between the inner member and the outer member. Has and
The pressing force detection device is provided between the inner member and the outer member,
The wall surface traveling device according to claim 5.
The expansion/contraction device includes an expansion/contraction member provided so as to make a distance between the traveling unit and the contact unit variable, and an expansion/contraction generating device for causing expansion/contraction of the expansion/contraction member.
The wall surface traveling device according to claim 5 or 6.
A wall surface traveling device configured to be capable of traveling on the wall surface by being pressed against the wall surface by a tension member stretched on the wall surface of a building,
A traveling unit configured to travel on the wall surface;
A contact portion configured to contact the tension member,
An expansion/contraction device that is provided between the traveling portion and the contact portion and is configured to change the distance between the traveling portion and the contact portion,
A pressing force detection device configured to detect a pressing force from the tension member to the wall surface traveling device,
A wall surface traveling device, comprising: an expansion/contraction control unit configured to control the operation of the expansion/contraction device such that the pressing force detected by the pressing force detection device becomes a predetermined pressing force.
The contact portion includes an inner member connected to the expansion device, an outer member located outside the inner member and in contact with the tension member, and an elastic member provided between the inner member and the outer member. Has and
The pressing force detection device is provided between the inner member and the outer member,
The wall surface traveling device according to claim 8.
The expansion/contraction device includes an expansion/contraction member provided so as to make a distance between the traveling unit and the contact unit variable, and an expansion/contraction generating device for causing expansion/contraction of the expansion/contraction member.
The wall surface traveling device according to claim 8 or 9.
The elastic member of the elastic device is a jack portion,
The expansion/contraction device of the expansion/contraction device is an electric cylinder,
The wall surface traveling device according to claim 10.
A shake detection device configured to detect a shake of the contact portion with respect to the tension member in a second direction orthogonal to the first direction in which the tension member is stretched,
A steering device configured to change the direction of the wheels of the traveling unit,
The wall surface according to any one of claims 8 to 11, further comprising: a steering control unit configured to control the operation of the steering device so as to suppress the shake detected by the shake detection device. Traveling device.
A shake detection device configured to detect a shake of the contact portion with respect to the tension member in a second direction orthogonal to the first direction in which the tension member is stretched,
A weight balance adjusting device configured to change the state of the weight balance adjusting member,
13. The weight balance control unit configured to control the operation of the weight balance adjustment device so as to suppress the shake detected by the shake detection device, according to any one of claims 8 to 12. The wall surface traveling device described.