Device, system, and method for performing maintenance on object

Abstract

A device for performing maintenance on an object is provided. The device for performing maintenance on an object comprises an attaching means that enables the device to attach to a part of an object, the attaching means being configured to deform in accordance with a shape of a part of the object, a moving means that enables the device to move on the object, and a maintenance means that performs maintenance on the object. In one embodiment of the present invention, the attaching means is configured so that the device maintains a state of attaching to the part of the object by the deformation of the attaching means even when a shape of a part of the object changes in association with the movement.

1 - 28 . (canceled) 
     
     
         29 . A method for performing maintenance on an object, the method comprising:
 stretching at least one rope over an object;   attaching a device for performing maintenance on an object onto the object, comprising connecting the at least one rope to the device, fixing at least two ropes different from the at least one rope to the device, and attaching the device onto the object while using the at least two ropes to control a posture of the device;   moving the device on the object along a direction in which the at least one rope is stretched; and   causing the device to perform maintenance on the object during movement of the device along a direction in which the at least one rope is stretched.   
     
     
         30 . The method of  claim 29 , wherein moving the device comprises moving the device along an inclined surface of the object. 
     
     
         31 . The method of  claim 29 , wherein:
 moving the device comprises moving the device on the object in a first direction along a direction in which the at least one rope is stretched, and moving the device on the object in a second direction different from the first direction along a direction in which the at least one rope is stretched, and   causing the device to perform the maintenance comprises causing the device to perform first maintenance during movement of the device in the first direction, and causing the device to perform second maintenance different from the first maintenance during movement of the device in the second direction.   
     
     
         32 . The method of  claim 29 , wherein using the at least two ropes to control the posture of the device is performed by a worker. 
     
     
         33 . The method of  claim 29 , wherein using the at least two ropes to control the posture of the device is performed by a movable robot. 
     
     
         34 . The method of  claim 33 , wherein using the at least two ropes to control the posture of the device is performed by the movable robot, which holds the at least two ropes, moving on the ground. 
     
     
         35 . The method of  claim 29 , wherein each step of the method is performed by a robot. 
     
     
         36 . The method of  claim 29 , wherein:
 at least one rope stretched over the object is two ropes; and   
       the device comprises two winches which wind the two ropes, on both sides of the device. 
     
     
         37 . The method of  claim 30 , wherein:
 at least one rope stretched over the object is two ropes; and   
       the device comprises two winches which wind the two ropes, on both sides of the device. 
     
     
         38 . The method of  claim 31 , wherein:
 at least one rope stretched over the object is two ropes; and   
       the device comprises two winches which wind the two ropes, on both sides of the device. 
     
     
         39 . The method of  claim 32 , wherein:
 at least one rope stretched over the object is two ropes; and   
       the device comprises two winches which wind the two ropes, on both sides of the device. 
     
     
         40 . The method of  claim 33 , wherein:
 at least one rope stretched over the object is two ropes; and   
       the device comprises two winches which wind the two ropes, on both sides of the device. 
     
     
         41 . The method of  claim 34 , wherein:
 at least one rope stretched over the object is two ropes; and   
       the device comprises two winches which wind the two ropes, on both sides of the device. 
     
     
         42 . The method of  claim 35 , wherein:
 at least one rope stretched over the object is two ropes; and   
       the device comprises two winches which wind the two ropes, on both sides of the device. 
     
     
         43 . The method of  claim 36 , wherein:
 the two winches have a first mode in which the two winches are independently controlled and a second mode in which the two winches are controlled in synchronization;   connecting the at least one rope to the device comprises actuating the two winches in the first mode; and   moving the device comprises actuating the two winches in the second mode.   
     
     
         44 . The method of  claim 29 , wherein the object is a wing body, and a part of the object is a leading edge of the wing body. 
     
     
         45 . The method of  claim 44 , wherein the wing body is a blade of a wind turbine. 
     
     
         46 . A method for operating a robot, wherein at least one first rope is connected to the robot and at least two second ropes different from the first rope are fixed to the robot, the at least two ropes extending in a different direction from the at least one rope, the method comprising:
 moving the device along a direction in which the at least one first rope extends; and   using the at least two second ropes to control a posture of the robot.