AU2020103342A4 - Design of self-supervisory target painting drone [sstpd] - Google Patents
Design of self-supervisory target painting drone [sstpd] Download PDFInfo
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- AU2020103342A4 AU2020103342A4 AU2020103342A AU2020103342A AU2020103342A4 AU 2020103342 A4 AU2020103342 A4 AU 2020103342A4 AU 2020103342 A AU2020103342 A AU 2020103342A AU 2020103342 A AU2020103342 A AU 2020103342A AU 2020103342 A4 AU2020103342 A4 AU 2020103342A4
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- drone
- target
- prototype
- painting
- paint
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/04—Control of altitude or depth
- G05D1/042—Control of altitude or depth specially adapted for aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
- B64U2101/60—UAVs specially adapted for particular uses or applications for transporting passengers; for transporting goods other than weapons
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30108—Industrial image inspection
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/30—Subject of image; Context of image processing
- G06T2207/30181—Earth observation
- G06T2207/30184—Infrastructure
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/0002—Inspection of images, e.g. flaw detection
- G06T7/0004—Industrial image inspection
- G06T7/001—Industrial image inspection using an image reference approach
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/10—Terrestrial scenes
- G06V20/176—Urban or other man-made structures
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/0047—Navigation or guidance aids for a single aircraft
- G08G5/0069—Navigation or guidance aids for a single aircraft specially adapted for an unmanned aircraft
Landscapes
- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Spray Control Apparatus (AREA)
Abstract
DESIGN OF SELF-SUPERVISORY TARGET PAINTING
DRONE [SSTPD]
Abstract
Building and construction are some of the important industries around the world. In this
fast-moving life, the construction industry is also developing expeditiously. But, the laborers
in the construction industry are not sufficient. Applications and activities of robotics and
automation in the construction industry started in the early 90's aiming to upgrade equipment
operations, improve safety, modify the concept of workspace and ensure a quality environment
for building occupiers. After the advancement happened in robotics and automation, the
construction industry has developed very fast. In contempt of the advances in robotics and its
wide-spreading applications, painting is considered a tough process and it has to be enhanced
in a better way. To make this work easier, secure, and to reduce the number of laborers, a
remote-operated Spray painting machine was introduced. The painting chemicals can cause
hazards to human painters such as the eye and respiratory system. Also, the nature of the
painting procedure that requires recast the work and hand rising makes it tedious, time, and
effort consuming. These factors inspire the development of self-supervisory aerial wall paint
vehicles. Drone means either miniature fixed-wing airplanes or more commonly Hexacopter
and other multi-bladed small helicopters. We have introduced and designed a new drone
innovation for spraying paint to the desired target. Our Drone system can paint the target
with a speed of 1 m/min. An aerial vehicle had designed to fly independently and
autonomously drove the drone.
11 P a g e
DESIGN OF SELF-SUPERVISORY TARGET PAINTING
DRONE [SSTPD]
Drawings
Hardware configuration of prototype
100 10,102 & 105
Caeaspraying Pai nt Tank
anism t zle
loT
106 Board
EGPS Tracking Clouding Webpage
DRONE UNIT
103%
108
ntt:]y PilotController MOTORS
Figure 16: hardware configuration of prototype
Figure 2: Bottom View of Drone wire frame Model
Figure 3: Bottom View of Drone Solid Model
Figure 4. Drone 3D wire Frame and Solid model
Description
Drawings
Hardware configuration of prototype
100 10,102 & 105
Caeaspraying Paint Tank t zle anism
loT 106 Board
Clouding EGPS Tracking Webpage
108 103%
ntt:]y PilotController MOTORS
Figure 16: hardware configuration of prototype
Figure 2: Bottom View of Drone wire frame Model
Figure 3: Bottom View of Drone Solid Model
Figure 4. Drone 3D wire Frame and Solid model
DESIGN OF SELF-SUPERVISORY TARGET PAINTING DRONE [SSTPD] DESCRIPTION 1) The figure depicts a system diagram of a self-supervisory wall painting vehicle equipped with an on-board painting system. The drone may be a well-known "Drone". The system includes an on-board power generator for controlling the speed of motors within the craft, a communications subsystem for receiving control and navigation information. The communication subsystem includes parts such as a flight path for traversing a structure, a variety of sensors, a communication system, a receiver for receiving navigation commands from ground equipment, and/or for transmitting data obtained from sensors to ground equipment. 2) The system includes an on-board automated Spray [Position 101,102 & 105] paint delivery system, which includes at minimum three-color paint sources, e.g., RGB paint color sources, in associated containers or canisters that are fixed at the bottom of the drone. The automated Spray [Position 101,102 & 105] paint delivery system includes a manifold and Spray [Position 101,102 & 105] nozzle connected with each paint 2 canister, which will spray the paint at the speed of 1 m /min. Via activation
commands, the nozzle is chosen or configured to Spray [Position 101,102 & 105] on a target at a desired granularity with droplet diameter, and flow rate. The nozzle is chosen commensurate with the size of the target image/structure, the paint thickness, the distance to the target structure when applying paint, and the pattern or image to be painted. 3) The communications systems includes an on-board processor and associated memory storage device that receives and stores programmed flight path control information including instructions to navigate the drone along a pre-determined path, and including control information and commands to configure the on-board automated paint Spraying
[Position 101,102 & 105] system for painting a target structure such as an outside wall of a building. 4) The system may be equipped with computer vision hardware including image sensors and a processor-based device for acquiring and processing image data. That is, via control commands communicated from the IoT [Position 100] device to the drone's on board navigation system, the drone can be guided to a target position by checking the drone's position from surface.
1 P a ge
5) The digital image of the target structure (e.g., a wall of a building) is captured using a Camera [Position 104]. This image may be stored locally at the Camera [Position 104] device or downloaded to a remotely located device via IoT Connection., there is an image or photo editing program, to compare with the final target image. 6) After the user inputs a drawing or picture for simulating the painting results on the target structure, the method, employs a function to generate a flight path for the drone to paint and render the image on the target structure based on the overlayed image. The flight path will be customized automatically to traverse and paint the target structure according to a customized grid or raster scan flight path. This generated flight path information for rendering the target image on the target structure estimates the relative position of the paint delivery system Spray [Position 101,102 & 105] nozzle and paint delivery trajectory with respect to the drone positioning at the target structure. 7) A flight path may be computed for the UAV to traverse the structure in a manner that: 1) minimizes the distance of flying path; 2) evaluates the Battery [Position 103] life for a workload; and/or 3) minimizes the construction time for painting the structure. 8) The drone is equipped with a distance-measuring sensor so that the drone is kept at a fixed distance relative to the target structure (e.g., wall) to prevent crashing of the drone against the wall. 9) In operation, the drone is navigated from an initial position to the target position, at which time the drone may then conduct the painting job on the target structure by following the predetermined rendering path as uploaded from IoT [Position 100] device. One or more commands are issued to navigate the drone to within a fixed distance close enough to the target structure such that the paint fluid dispensing/application system at the drone may apply an amount of paint on the structure at the target location to begin rendering the desired new target image on the target structure. 10)Once the drone reaches at the target position, the IoT [Position 100] device sends a signal to the drone to traverse the predetermined flight path and initiate the painting of the target image on the target structure. The system remains to live until such time the drone completes the target image rendering on the target structure and receives a wireless signal communication from the drone informing the paint job finished. 11)After obtaining the image capture of the completed painting results on the target structure, the mobile device performs a comparison of the painted image on the target structure against the simulated image overlayed onto the original image of the target
2|Page structure. The pattern recognition functionality may be used to evaluate the painting of the image on the target structure, by comparing the current scene of the target with the target scene having the overlaid image in the original image capture. It is assumed for purposes of comparison, that the scale/dimensions of the images of the completed painting results on the target structure captured is commensurate with the scale/dimensions of the simulated image overlayed onto the original image of the target structure. 12) Then, the device determines based on the comparison whether there is a difference between the drone painting of the target image and the original image of the target structure having the target image overlayed. The comparing of the images is with respect to color, shape or size, and/or combinations of such criteria. 13)It is determined that if there is no difference between the drone painting on the target image and the original image of the target structure having the target image overlayed, then the job is finished and the method ends. Otherwise, if it is determined that there is a difference between the drone painting on the target image and the original image of the target structure having the target image overlayed, then the process returns back, where the drone may be navigated to its original position and repeat the process until it is determined that the image have no discernible differences with respect to color, shape or size between the drone painting of the target image and the original image of the target structure having the target image overlayed. 14)In Figure 14A and Figure 14B, prototype of Aerial supports designed in 23cm height for balancing the drone support. 15)In Figure 16, Prototype of nozzle size designed flexible width 0.25 inch and flow rate 3.4m/min. Full cone shaped nozzle is used for spraying the paint. 16)Position 104 - depicts the camera, which will be used for multi-colour selection. 17) Position 106 - define the GPS tracking the drone path and monitoring any deviation, if any. 18)Position 107 - depicts an open source Clouding webpage that will display the job completion report. 19)Position 108 - BLDC motor's speed will get adjusted in such a way that the nozzle delivers the paint with the desired speed. (1 sq/m).
3|Page
METHODOLOGY: While the design and performance considerations in this system are similar to manned aviation, by which designers, do not have to consider an on-board pilot. This gives the advantage of reduced drag & weight (due to the elimination of the cockpit) as well as the ability to sustain a greater amount of gravity forces, allowing more complex flight management. Improvement in navigation & sensor advanced telecommunication technologies permits control at high altitudes over considerable distances. The body of the hexcopter is fully made of aluminum with a paint tank underneath with a capacity of 1 liter and a nozzle for Spraying [Position 101,102 & 105] purposes.
Brief description of the Drawings
[001] Various objects, 3D diagrams of the present invention will become apparent to one skilled in the art, in view of the following description details of Prototype of Figure 1 Assembled 3D parts taken in combination with the attached drawings, in which:
[002] Figure A shows an example embodiment of a grid or raster scan pattern flight path in which the drone traverses to apply paint on the target structure in one embodiment; an example embodiment of minimizing a painting system equipped Drone flight path in which a Drone flight navigation pattern is reduced; depicts a system diagram of an unmanned aerial vehicle equipped with an on - board painting system for rendering a visual image on a target structure in one embodiment;
[003] Figure B shows a method implemented at a Drone control system that operates in response to received and / or programmed control and navigation commands to control the drone for painting a structure in one embodiment;
[004] Figure. 1 conceptually shows a Bottom View of Drone prototype. This prototype design shows spare parts for the wall painting method as per the Algorithm followed in the Flow chart. .
[005] Figure 2: shows Bottom View of Drone wire frame Model and Solid model.
[006] Figure 3: Shows Drone 3D wire Frame model and Solid Model.
[007] Figure 4: Drone 3D wire Frame and Solid model
[008] Figure 5: Shows Top View and 3D section of Assembled Drone.
[009] Figure 6 Shows Side view of Assembled Drone.
[010] Figure 7: Shows Prototype of IoT [Position 100] Safety box.
4|Page
[011] Figure 8: Shows Prototype of Paint Tank Model [Position 102 and 105].
[012] Figure 9: Shows Prototype of Battery [Position 103] safety Cover.
[013] Figure 10: Shows 3D Design of Connecting Common Screw.
[014] Figure 11: Shows Prototype of Base Platting Joint.
[015] Figure 12 and FIG 13: Shows Prototype of Aerial Support 1 & 2.
[016] Figure 14: Shows Prototype of Wings.
[017] Figure 15: Shows Prototype of Nozzle 3D frame and Solid model.
[018] Figure 16: Shows an exemplary hardware configuration for performing methods such as described herein.
51Page
Claims (7)
1. We have introduced and designed a new drone innovation for spraying paint to desired target. The Drone type can be paint the target with speed of1 m 2 /min.
2. An aerial vehicle that is designed to fly independently drove the drone (Autonomous).
3. We can set drone path using IoT.
4. The Designed drone can spray paint on the target around approximate 500m.
5. After The Designed drone system captures the Target image, it excludes the unwanted areas and spray the paint only on the required area on the target.
6. The drone system can compare RGB image with target image and check for any deviation in the painted areas. If so, the deviated or uncovered area will be covered in the second process.
7. User can access the log details through loT data storage server.
1 P a ge
DESIGN OF SELF-SUPERVISORY TARGET PAINTING Nov 2020
DRONE [SSTPD]
Drawings
Hardware configuration of prototype 2020103342
Figure 16: hardware configuration of prototype
Flow chart START
Capture RGB image of the Target 2020103342
Store the XYZ Coordinates for Setting the Drone Path
Configure the Target area in the Drone path (Calibrate and set target of the Drone)
Exclude the obstacles the drone path (Validate the Sensors and Camera)
Transmit the signals to paint the estimated target
Is Receive No signal from IoT? Yes
Drone operation is initiated for painting the Target Area. After job completion, final image of the Target send to user.
Compare painted image and Original RGB image?
No Is any Cover unpainted area Changes
Yes
Drone Mechanism returns to initial stage
End
Figure B: Concepts of Programming
Full design of Target painting drone 2020103342
Figure 1: Bottom View of Drone prototype
Figure 2: Bottom View of Drone wire frame Model Nov 2020 2020103342
Figure 3: Bottom View of Drone Solid Model
Figure 4. Drone 3D wire Frame and Solid model
Figure 5. Top View of Assembled 3D wire frame and solid model Nov 2020 2020103342
Figure 6. Side view of 3D section Assembled Drone
Prototype of Figure-I Assembled parts
Figure 7. Prototype of IoT [Position 100] Safety box i
f
Figure 8. Prototype of Paint Tank Model
Figure 9. Prototype of Battery [Position 103] safety Cover
Figure 10. 3d Design of Connecting Common Screw
Figure 11. Prototype of Base Platting Joint
Figure 12. Prototype of Aerial Support 1
Figure 13. Prototype of Aerial Support 2 2020103342
Figure 14. Prototype of Wings
Figure 15. Prototype of Nozzle 3D frame and Solid model
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| AU2020103342A AU2020103342A4 (en) | 2020-11-10 | 2020-11-10 | Design of self-supervisory target painting drone [sstpd] |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| AU2020103342A AU2020103342A4 (en) | 2020-11-10 | 2020-11-10 | Design of self-supervisory target painting drone [sstpd] |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| AU2020103342A4 true AU2020103342A4 (en) | 2021-01-21 |
Family
ID=74341024
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| AU2020103342A Ceased AU2020103342A4 (en) | 2020-11-10 | 2020-11-10 | Design of self-supervisory target painting drone [sstpd] |
Country Status (1)
| Country | Link |
|---|---|
| AU (1) | AU2020103342A4 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116171962A (en) * | 2023-03-23 | 2023-05-30 | 广东省农业科学院植物保护研究所 | Efficient targeted spray regulation and control method and system for plant protection unmanned aerial vehicle |
| CN116466734A (en) * | 2023-05-04 | 2023-07-21 | 山东御航智能科技有限公司 | Unmanned aerial vehicle threading method and system |
-
2020
- 2020-11-10 AU AU2020103342A patent/AU2020103342A4/en not_active Ceased
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116171962A (en) * | 2023-03-23 | 2023-05-30 | 广东省农业科学院植物保护研究所 | Efficient targeted spray regulation and control method and system for plant protection unmanned aerial vehicle |
| CN116171962B (en) * | 2023-03-23 | 2024-03-08 | 广东省农业科学院植物保护研究所 | Efficient targeted spray regulation and control method and system for plant protection unmanned aerial vehicle |
| CN116466734A (en) * | 2023-05-04 | 2023-07-21 | 山东御航智能科技有限公司 | Unmanned aerial vehicle threading method and system |
| CN116466734B (en) * | 2023-05-04 | 2024-02-06 | 山东御航智能科技有限公司 | Unmanned aerial vehicle threading method and system |
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| FGI | Letters patent sealed or granted (innovation patent) | ||
| MK22 | Patent ceased section 143a(d), or expired - non payment of renewal fee or expiry |