JP7533325B2 - How to lay the lifeline - Google Patents

Description

This disclosure relates to a lifeline installation method and lifeline installation system.

There is a known technology in which an operator operates an unmanned aerial vehicle to which a life rope is attached, and the unmanned aerial vehicle transports the life rope to lay the life rope on a structure at a construction site (for example, Patent Document 1).

JP 2018-127867 A

To improve the safety performance of the lifeline, the weight of the lifeline can be increased. Therefore, when the lifeline is transported by an unmanned aerial vehicle, the lift required for the flight of the unmanned aerial vehicle becomes large, which causes the unmanned aerial vehicle to become larger.

This disclosure can be realized in the following forms:

(1) According to one aspect of the present disclosure, there is provided a method for laying a life rope, the method comprising the steps of: preparing an unmanned aerial vehicle, a life rope, and a guide string that is lighter than the life rope and is connected to the life rope, transporting the guide string by the unmanned aerial vehicle and temporarily laying the guide string at a life rope laying position that includes a first laying position and a second laying position different from the first laying position, and pulling the guide string temporarily laid at the life rope laying position to replace the life rope with the guide string and lay it at the life rope laying position.
According to this form of method for laying a lifeline, the lifeline can be laid at the lifeline laying position by using an unmanned aerial vehicle to pull the temporarily laid guide string. Since the unmanned aerial vehicle can carry a guide string that is lighter than the lifeline, the unmanned aerial vehicle can be made smaller than an unmanned aerial vehicle that carries a lifeline.
(2) In the method for laying a main rope of the above-described form, in the process of laying the guide cord, the guide cord may be transported by the unmanned aerial vehicle and hooked onto a structure at the second laying position, thereby temporarily laying the guide cord at the main rope laying position.
According to this form of method for laying a lifeline, the guide cord can be temporarily laid at the lifeline installation position by a simple method that utilizes a structure, without using any members for fixing the guide cord.
(3) In the method for laying a life rope of the above embodiment, the number of the guide cords connected to the life rope in the preparing step may be multiple. In the step of laying the guide cord, each of the multiple guide cords may be transported individually and temporarily laid at the life rope laying position, and in the step of laying the life rope, the multiple guide cords temporarily laid at the life rope laying position may be pulled together to replace the life rope with the multiple guide cords and lay them at the life rope laying position.
According to this method of installing the lifeline, the weight of each guide cord can be reduced compared to a method of installing the lifeline at the lifeline installation position using a single guide cord, and therefore the unmanned aerial vehicle can be made smaller.
(4) In the method for laying a main rope of the above-described embodiment, in the step of laying the guide cord, the guide cord may be further laid at a main rope laying position including a third laying position different from the first laying position and the second laying position.
According to this form of life rope installation method, the area in which the life rope is installed can be expanded.
(5) In the method for laying a life rope of the above aspect, the preparing step may further include preparing a structure fixing device that can be fixed to a structure, the structure fixing device having an insertion portion through which the guide cord and the life rope can be inserted. In the step of laying the guide cord, the structure fixing device with the guide cord inserted into the insertion portion may be transported by the unmanned aerial vehicle and fixed to the structure at the second laying position, and the guide cord may be temporarily laid at the life rope laying position.
According to this form of method for laying a lifeline, it is easier to lay the guide cord around a structure having a complex structure, compared to when the guide cord is hooked onto the structure.
(6) According to another aspect of the present disclosure, there is provided a life rope installation system comprising: a life rope, a guide rope that is lighter than the life rope and is connected to the life rope, and an unmanned aerial vehicle capable of transporting the guide rope.
According to this form of the lifeline installation system, the unmanned aerial vehicle is used to lay the guide rope, and the laid guide rope can be pulled to lay the lifeline at the lifeline installation position. Since the unmanned aerial vehicle can carry the guide rope, which is lighter than the lifeline, the unmanned aerial vehicle can be made smaller than an unmanned aerial vehicle that carries a lifeline.
The present disclosure can also be realized in various forms other than the method and system for laying a master rope, for example, an unmanned aerial vehicle, a master rope laying device, a method for laying a guide rope, a guide rope laying device, a guide rope laying system, a method for operating an unmanned aerial vehicle, a method for controlling an unmanned aerial vehicle, a method for controlling a master rope laying system, a computer program for realizing these control methods, a non-transitory recording medium on which the computer program is recorded, etc.

FIG. 1 is an explanatory diagram showing a lifeline installation system according to a first embodiment of the present disclosure. A process diagram showing a method of laying a lifeline using the lifeline laying system. A first explanatory diagram showing the process of laying the guide cord at the main rope laying position. A second explanatory diagram showing the process of laying the guide cord at the parent rope laying position. A third explanatory diagram showing the process of laying the guide cord at the main rope laying position. A first explanatory diagram showing the process of laying the life rope at the life rope laying position. A second explanatory diagram showing the process of laying the life rope at the life rope laying position. FIG. 11 is an explanatory diagram showing a lifeline installation system according to a second embodiment. An explanatory diagram showing the process of laying a lifeline at a lifeline laying position in the second embodiment. FIG. 11 is an explanatory diagram showing a lifeline installation system according to a third embodiment. FIG. 4 is an explanatory diagram showing the configuration of a third fixing device. FIG. 1 is an explanatory diagram showing the configuration of an unmanned aerial vehicle. FIG. 11 is a first explanatory diagram showing a state in which a third fastener is fastened to a structure. FIG. 11 is a second explanatory diagram showing the state in which the third fastener is fastened to the structure. FIG. 11 is a third explanatory diagram showing a state in which the third fastener is fastened to the structure. A first explanatory diagram showing the process of laying a lifeline at a lifeline laying position in the third embodiment. A second explanatory diagram showing the process of laying the lifeline at the lifeline laying position in the third embodiment. An explanatory diagram showing a method of laying a lifeline as a fourth embodiment.

A. First embodiment:
FIG. 1 is an explanatory diagram showing a lifeline laying system 100 as a first embodiment of the present disclosure. The lifeline laying system 100 includes a wirelessly controlled unmanned aerial vehicle 40, a lifeline 50, and a guide cord 60. FIG. 1 shows a worker HM performing so-called high-altitude work on a work platform 210, 220 assembled on a beam 250 at a construction site. The worker HM lays the lifeline 50 on a structure using the lifeline laying system 100. The "structure" includes, for example, structures already installed in a building, such as a beam 250 or a pillar, and structures separate from the building, such as the work platforms 210, 220 shown in FIG. 1 and the handrails 212, 222 attached to the work platforms 210, 220. The structure separate from the building may include a lifeline support used to fix the lifeline 50. In this embodiment, the worker HM uses the life rope laying system 100 to lay the life rope 50 by utilizing the handrail 212, which is a structure near the worker HM, and the handrail 222, which is a structure located away from the work platform 210. The position where the life rope 50 is laid is also called the life rope laying position.

The lifeline 50 is a member for preventing the worker HM from falling. The lifeline 50 functions by being laid at a predetermined position using a structure. The worker HM wears a safety belt, which is a protective gear for preventing falls, and connects the safety belt to the laid lifeline 50 using, for example, a lanyard (not shown). The lifeline 50 can be any product that complies with the Japanese Industrial Standards, and the material, weight, size, etc. of the lifeline 50 can be set arbitrarily. The lifeline 50 is formed, for example, using synthetic fibers such as nylon. The outer diameter of the cross section of the lifeline 50 can be, for example, 12 mm, 14 mm, or 16 mm. In this embodiment, the weight of the lifeline 50 per meter is 0.35 kg. The thrust of the unmanned aerial vehicle 40 cannot transport the lifeline 50 of a length corresponding to the location where the lifeline is laid. The weight of the lifeline 50 may be a weight that can be transported by the thrust of the unmanned aerial vehicle 40, at least a part of which. The life rope 50 may be equipped with a life rope tensioner for applying tension to the life rope 50 after it has been laid at the life rope laying position.

The lifeline 50 includes a connection portion 52, a first fixing device 54, and a second fixing device 56. The connection portion 52 is provided at one end of the lifeline 50. The connection portion 52 is a connecting device for connecting the lifeline 50 and the guide string 60. The first fixing device 54 and the second fixing device 56 are annular hooks used to fix the lifeline 50 to a structure. In this embodiment, the first fixing device 54 is provided at the other end of the lifeline 50, and the second fixing device 56 is provided at the connection portion 52. The first fixing device 54 and the second fixing device 56 may be provided at any position of the lifeline 50, not limited to the end of the lifeline 50. For the first fixing device 54 and the second fixing device 56, a carabiner may be used instead of a hook. For example, when the lifeline 50 is directly fixed to the structure by being tied to the structure, the first fixing device 54 and the second fixing device 56 may not be provided.

The guide string 60 is a thread-like member used to pull the life rope 50. One end of the guide string 60 is connected to the life rope 50 via the connection part 52. The guide string 60 is transported by the unmanned aerial vehicle 40 and temporarily placed at the life rope laying position before laying the life rope 50 on the structure. The worker HM pulls the guide string 60 placed at the life rope laying position, thereby pulling the life rope 50 connected to the guide string 60, replacing the guide string 60 and the life rope 50, and placing the life rope 50 at the life rope laying position. The guide string 60 may be directly connected to the life rope 50 without using the connection part 52. For example, the guide string 60 may be tied to the life rope 50, or may be connected to the life rope 50 by being sewn into the life rope 50.

The guide string 60 is lighter than the master rope 50 and is formed with a weight that can be carried by the thrust of the unmanned aerial vehicle 40. In this embodiment, the guide string 60 is a fishing line made of twisted polyethylene fibers, also called a PE line. The outer diameter of the cross section of the guide string 60 can be, for example, 0.2 mm to 0.5 mm. The weight of the guide string 60 is preferably as small as possible from the viewpoint of reducing the thrust of the unmanned aerial vehicle 40. The guide string 60 has a strength that can withstand the load of the master rope 50 when pulling the master rope 50 connected to the guide string 60, as well as a strength that can withstand friction with the structure. The guide string 60 may be made of, for example, a fishing line made of synthetic resins such as fluorocarbon using polyvinylidene fluoride resin, nylon, polyamide, polyester, and polyethylene. The guide string 60 is not limited to a fishing line, and may be made of, for example, a metal wire made of piano steel wire, stainless steel wire, tungsten steel wire, etc. The guide cord 60 may be, for example, a carbon fiber thread using CFRP, polyacrylonitrile (PAN), or the like, or may be a glass fiber thread. The guide cord 60 may be a composite material made by combining these materials. The outer diameter of the guide cord 60 is not limited to 0.2 mm to 0.5 mm, and may be set arbitrarily according to the strength of the guide cord 60, provided that the guide cord 60 is lighter than the main rope 50. The guide cord 60 may be, for example, larger than 0.5 mm, or larger than the outer diameter of the main rope 50. The outer diameter of the guide cord 60 may be smaller than 0.2 mm.

The unmanned aerial vehicle 40 is a so-called drone that can fly by radio control. In this embodiment, the unmanned aerial vehicle 40 is a quadcopter with four rotors and legs attached to a base. The worker HM operates the unmanned aerial vehicle 40 using a controller RM for remotely controlling the unmanned aerial vehicle 40. The unmanned aerial vehicle 40 is not limited to a quadcopter, and may be, for example, a multicopter including a bicopter, tricopter, hexacopter, octocopter, etc., a helicopter, an airplane, a flying robot, etc. The unmanned aerial vehicle 40 is not limited to being radio controlled, and may also fly autonomously.

In this embodiment, the unmanned aerial vehicle 40 is provided with a guide cord fixing part 68 at the bottom of the base. The other end of the guide cord 60 can be removably fixed to the guide cord fixing part 68. The unmanned aerial vehicle 40 does not need to be provided with the guide cord fixing part 68 as long as it is capable of transporting the guide cord 60. Instead of the guide cord fixing part 68, the unmanned aerial vehicle 40 may be provided with, for example, an engagement part for engaging with the hook at the other end of the guide cord 60, or a gripping part for gripping at least a part of the guide cord 60. The guide cord 60 may be tied to a part of the unmanned aerial vehicle 40. The guide cord 60 may be fixed to the unmanned aerial vehicle 40 in an undetachable manner.

The method of laying the life rope 50 using the life rope laying system 100 of this embodiment will be described with reference to Figures 2 to 7. Figure 2 is a process diagram showing the method of laying the life rope 50 using the life rope laying system 100.

In step S10, the worker HM prepares the unmanned aerial vehicle 40, the main rope 50, and the guide rope 60 connected to the main rope 50. The worker HM fixes the guide rope 60 to the guide rope fixing portion 68 of the unmanned aerial vehicle 40. In step S20, the worker HM uses the controller RM to operate the unmanned aerial vehicle 40 to temporarily lay the guide rope 60 at the main rope laying position. In step S30, the worker HM lays the main rope 50 at the main rope laying position by pulling the guide rope 60 and replacing the main rope 50 with the guide rope 60.

Figure 3 is a first explanatory diagram showing the process of laying the guide rope 60 at the rope laying position PR. In this embodiment, the rope 50 is laid as a so-called horizontal rope used for the horizontal movement of the worker HM. Specifically, as shown in Figure 3 as the rope laying position PR, the rope 50 is fixed in a substantially horizontal state by being hooked on two structures, the handrail 212 and the handrail 222, which are arranged opposite each other on substantially the same horizontal plane. Note that the rope 50 is not limited to being laid on a horizontal plane, and may be laid at an angle to the horizontal plane, or may be laid along a direction intersecting the horizontal plane as a so-called vertical rope used for the ascending and descending movement of the worker HM.

As shown in FIG. 3, the lifeline laying position PR includes a first laying position LP1 and a second laying position LP2. The first laying position LP1 and the second laying position LP2 are positions where the lifeline 50 is supported by the structure. Specifically, the first laying position LP1 and the second laying position LP2 are positions where the lifeline 50 is supported when tension is applied to the lifeline 50 laid at the lifeline laying position PR. The first laying position LP1 and the second laying position LP2 can be formed, for example, by hooking the lifeline 50 on a structure or winding the lifeline 50 around the structure. The first laying position LP1 and the second laying position LP2 may also be formed by fixing a fixture such as a hook to the structure.

In this embodiment, the first installation position LP1 is the handrail 212 as a structure near the worker HM. The first installation position LP1 is formed by hooking the first fixing device 54 and the second fixing device 56 provided on the life rope 50 to the handrail 212. The second installation position LP2 is the handrail 222 as a structure away from the worker HM. The second installation position LP2 is formed by the life rope 50 moving back and forth around the axis of the handrail 222 and being hooked to the handrail 222, as described below.

The flight path FR shown in FIG. 3 is a schematic diagram of the path along which the unmanned aerial vehicle 40 flies under the control of the operator HM. As shown in FIG. 3, in this embodiment, the flight path FR is a path that runs from near the handrail 212 toward the handrail 222, around the axis of the handrail 222, and back and forth toward the handrail 212. In this embodiment, the master rope laying position PR and the flight path FR are approximately the same, and the operator HM flies the unmanned aerial vehicle 40 to which the guide rope 60 is attached along the master rope laying position PR to lay the guide rope 60 at the master rope laying position PR. The flight path FR does not necessarily have to coincide with the master rope laying position PR, and it is sufficient that the guide rope 60 is laid at the master rope laying position PR by transporting the unmanned aerial vehicle 40. In the example of FIG. 3, the flight path FR can also be a path that is farther outward than the master rope laying position PR.

As shown in FIG. 3, after fixing the first fixing device 54 to the handrail 212, the operator HM uses the controller RM to control the unmanned aerial vehicle 40, flying the unmanned aerial vehicle 40 with the guide cord 60 attached to the guide cord fixing portion 68 in a direction D1 along the flight path FR. The direction D1 is the direction D1 toward the handrail 212 as the second laying position LP2. The first fixing device 54 may be fixed to the handrail 212 at this point, or may be fixed after starting to control the unmanned aerial vehicle 40 and before laying the lifeline 50.

Figure 4 is a second explanatory diagram showing the process of laying the guide cord 60 at the master rope laying position PR. The worker HM flies the unmanned aerial vehicle 40 in the direction D1 shown in Figure 3, passes under the handrail 222, and then raises it. The worker HM raises the unmanned aerial vehicle 40 to the top of the handrail 222, and then flies it in the direction D2 toward the worker HM, as shown in Figure 4. In other words, the unmanned aerial vehicle 40 is made to fly back and forth around the axis of the handrail 222, thereby hooking the guide cord 60 onto the handrail 222. As a result, a second laying position LP2 is formed on the handrail 222.

Figure 5 is a third explanatory diagram showing the process of laying the guide cord 60 at the main rope laying position. The worker HM flies the unmanned aerial vehicle 40 in the direction D2 shown in Figure 4 and retrieves it. The worker HM does not necessarily need to retrieve the unmanned aerial vehicle 40, but only needs to retrieve the guide cord 60. The worker HM starts pulling the retrieved guide cord 60 as shown in the direction D3 in Figure 5. The guide cord 60 is pulled while supported by the handrail 222. The guide cord 60 may be pulled while detached from the unmanned aerial vehicle 40, or while attached to the guide cord fixing part 68 of the unmanned aerial vehicle 40. The guide cord 60 may be pulled manually by the worker HM, or a device for pulling the guide cord 60 may be used.

Figure 6 is a first explanatory diagram showing the process of laying the lifeline 50 at the lifeline laying position PR. When the worker HM continues to pull the guide rope 60, the lifeline 50 connected to one end of the guide rope 60 is pulled as shown in the direction D4 in Figure 6, and the lifeline 50 is replaced by the guide rope 60 that was temporarily laid at the lifeline laying position PR.

Figure 7 is a second explanatory diagram showing the process of laying the life rope 50 at the life rope laying position PR. The worker HM retrieves one end of the life rope 50 and fixes the second fixing device 56 attached to the connection part 52 at one end of the life rope 50 to the handrail 212 as the first laying position LP1. As a result, the life rope 50 is supported by the handrail 212 as the first laying position LP1 by the first fixing device 54 and the second fixing device 56, and is supported by the handrail 222 as the second laying position LP2 by being hooked on the handrail 222, completing the laying of the life rope 50 at the life rope laying position PR. The life rope 50 is used, for example, by applying tension using a life rope tensioner attached to the life rope 50 after being laid at the life rope laying position PR. Note that the guide string 60 may be removed from the life rope 50 after the life rope 50 is laid at the life rope laying position PR, or may remain connected to the life rope 50.

As described above, in the method of laying the master rope 50 of this embodiment, the guide rope 60, which is lighter than the master rope 50, is transported by the unmanned aerial vehicle 40, and temporarily laid at the master rope laying position PR including the first laying position LP1 and the second laying position LP2 for supporting the master rope 50, and the guide rope 60 and the master rope 50 are replaced by pulling the guide rope 60 connected to the master rope 50, and the master rope 50 is laid at the master rope laying position PR. According to this form of the method of laying the master rope 50, the master rope 50 can be laid at the master rope laying position PR by pulling the guide rope 60 laid using the unmanned aerial vehicle 40. Therefore, the unmanned aerial vehicle 40 can be made to transport the guide rope 60, which is lighter than the master rope 50, and the thrust of the unmanned aerial vehicle 40 can be reduced to a level at which the guide rope 60 can be transported. Therefore, the unmanned aerial vehicle 40 can be made smaller than when the unmanned aerial vehicle 40 carries the lifeline 50.

According to the method for laying the master rope 50 of this embodiment, in the process of laying the guide rope 60, the guide rope 60 is transported by the unmanned aerial vehicle 40 and hooked onto the handrail 222 at the second laying position LP2, so that the guide rope 60 is laid at the master rope laying position PR. Therefore, the guide rope 60 can be laid at the master rope laying position PR by a simple method that utilizes a structure, without using a member for fixing the guide rope 60 to the structure. There is no longer a need to transport a member for fixing the guide rope 60 to the unmanned aerial vehicle 40, so the thrust of the unmanned aerial vehicle 40 can be reduced, and the unmanned aerial vehicle 40 can be made smaller.

B. Second embodiment:
FIG. 8 is an explanatory diagram showing a lifeline installation system 100b of the second embodiment. The lifeline installation system 100b of the second embodiment differs from the lifeline installation system 100 of the first embodiment in that a plurality of guide strings are connected to the lifeline 50, and the other configuration is the same as the lifeline installation system 100 of the first embodiment. In this embodiment, three guide strings 61, 62, and 63 are connected to the lifeline 50. The weight of each of the guide strings 61, 62, and 63 is lighter than the guide string 60 exemplified in the first embodiment. The strength of each of the guide strings 61, 62, and 63 may be lower than that of the guide string 60. The other configurations of the guide strings 61, 62, and 63 are the same as the guide string 60 in the first embodiment.

In this embodiment, the operator HM flies the unmanned aerial vehicle 40, with one end of the guide string 61 attached to the guide string fixing part 68, along the flight path FR in a manner similar to that of the first embodiment described above, to lay the guide string 61 at the master rope laying position PR. The operator HM repeats the same operation as for the guide string 61 for the guide strings 62 and 63 individually, laying them at the master rope laying position PR. In this embodiment, one unmanned aerial vehicle 40 is used to repeatedly attach and detach the guide strings 61, 62, and 63 to and from the guide string fixing part 68, and lays each of the guide strings 61, 62, and 63 individually at the master rope laying position PR. A plurality of unmanned aerial vehicles 40 to which each of the guide strings 61, 62, and 63 is connected may also be used.

Figure 9 is an explanatory diagram showing the process of laying the life rope 50 at the life rope laying position PR using the life rope laying system 100b of the second embodiment. As shown in Figure 9, the worker HM bundles the retrieved guide cords 61, 62, 63 and pulls them together to lay the life rope 50 at the life rope laying position PR. The strength of the guide cords 61, 62, 63 in the bundled state is equal to or greater than the strength of the guide cord 60 shown in the first embodiment.

The lifeline laying system 100b of this embodiment lays the lifeline 50 at the lifeline laying position PR by pulling multiple guide cords 61, 62, and 63 together. According to the lifeline laying system 100b of this embodiment, the weight and load-bearing capacity of each guide cord can be reduced compared to a configuration in which a single guide cord is used to lay the lifeline 50 at the lifeline laying position PR. Therefore, the weight of each guide cord carried by the unmanned aerial vehicle 40 can be reduced, and the unmanned aerial vehicle 40 can be made smaller. In addition, by making the load-bearing capacity of each guide cord the same as a configuration in which a single guide cord is used, it is also possible to increase the weight of the lifeline 50.

C. Third embodiment:
10 is an explanatory diagram showing a master rope laying system 100c as a third embodiment. The master rope laying system 100c differs from the master rope laying system 100 of the first embodiment in that it includes an unmanned aerial vehicle 40c instead of the unmanned aerial vehicle 40, and other configurations are similar to the master rope laying system 100 of the first embodiment. A third fixing device 58 is attached to the unmanned aerial vehicle 40c. In this embodiment, the unmanned aerial vehicle 40c flies along a linear flight path FR2. In this embodiment, the flight path FR2 of the unmanned aerial vehicle 40c does not coincide with the master rope laying position PR2.

As shown in FIG. 10, one end of the guide cord 60 is connected to the lifeline 50 via the connection part 52, as in the first embodiment. The second fixing device 56 is not attached to the connection part 52. In this embodiment, a hook 66 is provided at the other end of the guide cord 60. As described below, the other end of the guide cord 60 is inserted into the insertion part 586 of the third fixing device 58 and then fixed to the handrail 212 by the hook 66. The hook 66 is used to temporarily fix the other end of the guide cord 60 to a structure to prevent the guide cord 60 from falling off the third fixing device 58. The hook 66 does not need to be provided when the guide cord 60 is tied to the handrail 212 or when the worker HM holds the guide cord 60.

Figure 11 is an explanatory diagram showing the configuration of the third fixing device 58. The third fixing device 58 is a hook having a main body portion 581, a ring 585, and an insertion portion 586. The third fixing device 58 functions as a structure fixing device that can be fixed to a structure. The ring 585 is attached to the main body portion 581 via a rope 584.

The main body 581 includes an opening/closing portion 582 and a leaf spring 583. The insertion portion 586 is a through hole large enough to allow the guide cord 60 and the master rope 50 to be inserted therethrough. In this embodiment, the insertion portion 586 is an opening formed in the center of the annular main body 581. The insertion portion 586 may be a through hole provided in a member separate from the main body 581, such as a ring attached to the main body 581. The guide cord 60 is inserted into the insertion portion 586 as shown in FIG. 11.

The opening/closing part 582 is biased by the leaf spring 583 in a direction D9 toward the outside of the main body part 581. This biasing force causes the opening/closing part 582 to close, and the main body part 581 to enter a closed state in which the insertion part 586 is formed, as shown in FIG. 10. When a force greater than the biasing force of the leaf spring 583 is applied from the outside to the opening/closing part 582 in the closed state, the opening/closing part 582 rotates in the direction opposite to the direction D9 and enters an open state, and the insertion part 586 enters a state in which it is connected to the outside of the main body part 581.

Figure 12 is an explanatory diagram showing the configuration of the unmanned aerial vehicle 40c. In this embodiment, the unmanned aerial vehicle 40c has a ring attachment/detachment mechanism 44 attached to the underside of the base 41. The ring attachment/detachment mechanism 44 includes a ring locking portion 45, an opening/closing portion 46, and an elastic body 47. The ring locking portion 45 can lock the ring 585 of the third fixing device 58. The opening/closing portion 46 rotates around its upper end portion as the axis of rotation. The elastic body 47 is connected to the opening/closing portion 46, which abuts against the end of the ring locking portion 45 due to the biasing force of the elastic body 47, keeping the ring locking portion 45 in a closed state that does not communicate with the outside.

The process of laying the guide cord 60 at the main rope laying position PR2 will be described using Figures 13 to 16. Figure 13 is a first explanatory diagram showing the state in which the third fixing device 58 is fixed to the structure. Figure 14 is a second explanatory diagram showing the state in which the third fixing device 58 is fixed to the structure. Figure 15 is a third explanatory diagram showing the state in which the third fixing device 58 is fixed to the structure. In the process of preparing the main rope 50, the guide cord 60, and the unmanned aerial vehicle 40c, the worker HM inserts the guide cord 60 into the insertion portion 586 of the third fixing device 58 and engages the ring 585 of the third fixing device 58 with the ring engagement portion 45 of the unmanned aerial vehicle 40c.

As shown in FIG. 13, the worker HM flies the unmanned aerial vehicle 40c in direction D5 along flight path FR2. As shown in FIG. 10, direction D5 is the direction toward the handrail 222. The worker HM flies the unmanned aerial vehicle 40c further along direction D5, and brings the opening/closing portion 582 of the third fixing device 58 into contact with the handrail 222. The opening/closing portion 582 is subjected to a force greater than the biasing force of the leaf spring 583 due to contact with the handrail 222. As a result, the opening/closing portion 582 is in the open state, and the handrail 222 is housed in the insertion portion 586 of the third fixing device 58, as shown in FIG. 14.

When the worker HM flies the unmanned aerial vehicle 40c further in the direction D5, the movement of the third fixing device 58 is restricted by the handrail 222, and the ring 585 of the third fixing device 58 moves relatively in the direction toward the opening/closing section 46 of the ring attachment/detachment mechanism 44 and contacts the opening/closing section 46. Due to the propulsive force of the flight of the unmanned aerial vehicle 40c, the ring 585 opens the opening/closing section 46 in the direction D6 with a force that exceeds the biasing force of the elastic body 47. As a result, as shown in FIG. 15, the ring 585 detaches from the ring attachment/detachment mechanism 44 of the unmanned aerial vehicle 40c, and the third fixing device 58 is fixed to the handrail 222. The opening/closing section 46 is in an unloaded state and is closed in the direction D7 by the biasing force of the elastic body 47. This completes the installation of the guide cord 60 at the parent rope installation position PR2. In this way, when laying the guide cord 60 at the master rope laying position PR, the method is not limited to a method in which the guide cord 60 is directly fixed to the structure, such as by hooking the guide cord 60 to the handrail 222 as the structure as in the first embodiment, but a method in which the guide cord 60 is indirectly fixed to the structure, such as by fixing the third fixing device 58 to the structure, as in this embodiment, may also be used.

Figure 16 is a first explanatory diagram showing the process of laying the lifeline 50 at the lifeline laying position PR2 in the third embodiment. The worker HM removes the hook 66 at the other end of the guide cord 60 from the handrail 212 and pulls the guide cord 60 in the direction D8 shown in Figure 16. In this embodiment, the guide cord 60 is pulled while passing through the insertion portion 586 of the third fixing device 58.

Figure 17 is a second explanatory diagram showing the process of laying the life rope 50 at the life rope laying position PR2 in the third embodiment. When the worker HM pulls on the guide cord 60 that has been laid at the life rope laying position PR2, the life rope 50 connected to one end of the guide cord 60 is pulled. Since the second fixing device 56 is not attached to the connection part 52 of the life rope 50, the life rope 50 can easily pass through the insertion part 586. The worker HM retrieves the connection part 52 at one end of the life rope 50 and attaches the second fixing device 56 to the retrieved connection part 52. The worker HM uses the second fixing device 56 to fix the life rope 50 to the handrail 212. As a result, the life rope 50 is placed at the life rope laying position PR2.

According to the main rope laying system 100c of this embodiment, the third fixing device 58 with the guide rope 60 inserted through the insertion portion 586 is transported by the unmanned aerial vehicle 40c, and the third fixing device 58 is fixed to the handrail 222 as a structure, thereby temporarily laying the guide rope 60 at the main rope laying position PR2. Therefore, the flight path FR2 of the unmanned aerial vehicle 40c in the vicinity of the structure as the second laying position LP2 can be simplified, and the guide rope 60 can be laid by easily operating the unmanned aerial vehicle 40. In addition, it becomes easy to lay the guide rope 60 on a structure having a complex structure, for example.

D. Fourth embodiment:
FIG. 18 is an explanatory diagram showing a method of laying a life rope 50 as a fourth embodiment. The configuration of the life rope laying system 100 of this embodiment is similar to that of the life rope laying system 100 of the first embodiment. This embodiment differs from the first embodiment in that the number of positions at which the life rope 50 is supported by the structure is different. Specifically, the positions at which the life rope 50 is supported include a third laying position LP3 in addition to the first laying position LP1 and second laying position LP2 exemplified in the first embodiment. The third laying position LP3 is formed by utilizing a handrail 232 provided on a work platform 230 different from the work platforms 210, 220.

As in the first embodiment, the worker HM operates the unmanned aerial vehicle 40 to form the second laying position LP2 by hooking the guide cord 60 to the handrail 222, and then forms the third laying position LP3 by further hooking the guide cord 60 to the handrail 232. After forming the third laying position LP3, the unmanned aerial vehicle 40 is further moved to the handrail 212, thereby completing the laying of the guide cord 60 to the main rope laying position PR3. The worker HM pulls the retrieved guide cord 60 and fixes the second fixing device 56 at one end of the main rope 50 to the handrail 212, thereby completing the laying of the main rope 50. In this way, the laying positions for the main rope 50 laid at the main rope laying position to be supported by the structure are not limited to two, and may be three or more. According to the method of laying the main rope 50 of this embodiment, the area in which the main rope 50 is laid can be expanded.

E. Other embodiments:
(E1) In the above third embodiment, an example of the unmanned aerial vehicle 40c is shown in which the ring attachment/detachment mechanism 44 includes an opening/closing unit 46 that utilizes an elastic body 47. Alternatively, a ring attachment/detachment mechanism 44 including a locking mechanism that opens and closes by electrical means may be used. In this case, the operator HM opens and closes the opening/closing unit 46 by, for example, transmitting an electrical signal to the ring attachment/detachment mechanism 44 to release the locking mechanism by operating the controller RM.

The present disclosure is not limited to the above-described embodiments, and can be realized in various configurations without departing from the spirit of the present disclosure. For example, the technical features in the embodiments corresponding to the technical features in each form described in the Summary of the Invention column can be replaced or combined as appropriate to solve some or all of the above-described problems or to achieve some or all of the above-described effects. Furthermore, if a technical feature is not described as essential in this specification, it can be deleted as appropriate.

40, 40c...unmanned aerial vehicle, 41...base, 44...ring attachment/detachment mechanism, 45...ring locking portion, 46...opening/closing portion, 47...elastic body, 50...main rope, 52...connection portion, 54...first fixing device, 56...second fixing device, 58...third fixing device, 60-63...guiding cord, 66...hook, 68...guiding cord fixing portion, 100, 100b, 100c...main rope laying system, 2 10, 220, 230...work platform, 250...beam, 581...main body, 582...opening/closing part, 583...leaf spring, 584...rope, 585...ring, 586...passing part, FR, FR2...flight path, HM...worker, LP1...first laying position, LP2...second laying position, LP3...third laying position, PR, PR2, PR3...main rope laying position, RM...controller

Claims (4)

A method for laying a life rope, comprising the steps of:
A step of preparing an unmanned aerial vehicle, a life rope, and a guidance string that is lighter than the life rope and is connected to the life rope;
A step of transporting the guiding cord by the unmanned aerial vehicle and temporarily laying the guiding cord at a main rope laying position including a first laying position and a second laying position different from the first laying position;
and a step of pulling the guide cord temporarily laid at the life rope laying position to replace the life rope with the guide cord and lay the life rope at the life rope laying position ,
In the step of laying the guiding cord, the guiding cord is transported by the unmanned aerial vehicle and hooked onto a structure at the second laying position, so that the guiding cord is temporarily laid at the main rope laying position.
How to lay the lifeline. A method for laying a life rope, comprising the steps of:
A step of preparing an unmanned aerial vehicle, a life rope, and a guidance string that is lighter than the life rope and is connected to the life rope;
A step of transporting the guiding cord by the unmanned aerial vehicle and temporarily laying the guiding cord at a main rope laying position including a first laying position and a second laying position different from the first laying position;
and a step of pulling the guide cord temporarily laid at the life rope laying position to replace the life rope with the guide cord and lay the life rope at the life rope laying position,
In the preparing step, the guide cord is connected to the main rope in a plurality of ways,
In the step of laying the guide cords, each of the plurality of guide cords is transported individually and temporarily laid at the master rope laying position;
In the step of laying the life rope, the plurality of guiding cords temporarily laid at the life rope laying position are pulled together to replace the life rope with the plurality of guiding cords and lay them at the life rope laying position.
How to lay the lifeline. A method for laying a lifeline according to claim 1 or 2, comprising the steps of:
In the step of laying the guiding cord, the guiding cord is further laid at the master rope laying position including a third laying position different from the first laying position and the second laying position.
How to lay the lifeline. A method for laying a life rope, comprising the steps of:
A step of preparing an unmanned aerial vehicle, a life rope, and a guidance string that is lighter than the life rope and is connected to the life rope;
A step of transporting the guiding cord by the unmanned aerial vehicle and temporarily laying the guiding cord at a main rope laying position including a first laying position and a second laying position different from the first laying position;
and a step of pulling the guide cord temporarily laid at the life rope laying position to replace the life rope with the guide cord and lay the life rope at the life rope laying position,
In the preparing step, a structure fixing device capable of being fixed to a structure, the structure fixing device having an insertion portion through which the guide cord and the life rope can be inserted,
In the step of laying the guide cord, the structure fixing tool with the guide cord inserted through the insertion portion is transported by the unmanned aerial vehicle and fixed to the structure at the second laying position, so that the guide cord is temporarily laid at the main rope laying position.
How to lay the lifeline.

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