CN111487994A - Ultra-large high-rise building paint repair method based on unmanned aerial vehicle - Google Patents
Ultra-large high-rise building paint repair method based on unmanned aerial vehicle Download PDFInfo
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- CN111487994A CN111487994A CN202010340252.4A CN202010340252A CN111487994A CN 111487994 A CN111487994 A CN 111487994A CN 202010340252 A CN202010340252 A CN 202010340252A CN 111487994 A CN111487994 A CN 111487994A
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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
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
Abstract
The invention relates to an ultra-large high-rise building paint repairing method based on an unmanned aerial vehicle, and relates to the field of environmental protection. It is including confirming unmanned aerial vehicle flying starting point and reference center, and establish three-dimensional body coordinate system, confirm unmanned aerial vehicle's flight orbit and flight parameter, shoot the position that does not need the benefit lacquer on the unmanned aerial vehicle in advance, and obtain standard RGB value scope, judge the position that needs the benefit lacquer on the high-rise building according to the video recording when unmanned aerial vehicle flies, unmanned aerial vehicle slows down and grabs real-time picture through the camera, when not being in standard RGB value scope with the average RGB value of picture, prepare to begin the benefit lacquer, adjust the distance between unmanned aerial vehicle and the high-rise building outer wall, and adjust unmanned aerial vehicle's equilibrium, and the benefit lacquer. The invention firstly preliminarily determines the distance between the unmanned aerial vehicle and the outer wall of the high-rise building through the flight track, and then adjusts and adjusts the distance between the unmanned aerial vehicle and the outer wall of the high-rise building when paint repair is needed, thereby enhancing the accuracy in paint spraying.
Description
Technical Field
The invention relates to the field of environmental protection, in particular to an ultra-large high-rise building paint repairing method based on an unmanned aerial vehicle.
Background
At present, after a super-large high-rise building is used for a long time, paint can fall off from the outer wall of the high-rise building, the attractiveness of the high-rise building can be affected, the service life of the high-rise building can be affected, and therefore people often need to repair the paint for the high-rise building. In the prior art, workers are erected to positions needing paint repair through scaling ladders, and then paint repair is carried out on high-rise buildings through paint brushes or paint guns. The safety of the prior art scheme is relatively low, and potential safety hazards exist. In the prior art, the unmanned aerial vehicle is widely used for spraying paint or medicine on objects (such as crops and high-voltage wires), but no precedent for spraying paint or repairing paint on high-rise buildings is provided at present.
Now, a Chinese patent with a publication number of CN106347667B is retrieved, and discloses a method and a device for automatically spraying a plant protection unmanned aerial vehicle based on distance and image detection, wherein the method comprises the steps of setting a target distance; detecting whether an object exists in an area where the unmanned aerial vehicle flies, calculating the distance between the object and the unmanned aerial vehicle, and meanwhile, acquiring an image of the area where the unmanned aerial vehicle flies; if the distance between unmanned aerial vehicle and the object is in the preset range then the image of analysis collection, judge whether the object that detects is crops, if then begin spraying this region, it is not crops to have the object that the thing was measured in the region that can not detect unmanned aerial vehicle flight.
The above prior art solutions have the following drawbacks: because in above-mentioned unmanned aerial vehicle automatic spraying method, unmanned aerial vehicle's flight track is more single, and through carry out green weighting in order to judge the position that needs sprayed on the basis of the RGB value of acquireing the image, so above-mentioned unmanned aerial vehicle automatic spraying method who is applied to plant protection is not only unsuitable for carry out the touch-up paint to high-rise building, and the mode between measurement target thing and unmanned aerial vehicle is more single to can make unmanned aerial vehicle position when spraying paint not accurate enough, therefore it is necessary to improve.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide the ultra-large high-rise building paint repairing method based on the unmanned aerial vehicle, which can accurately control the distance between the unmanned aerial vehicle and the part needing paint spraying on the outer wall of the high-rise building.
The above object of the present invention is achieved by the following technical solutions: an ultra-large high-rise building paint repair method based on an unmanned aerial vehicle comprises the following steps,
s1: determining an unmanned aerial vehicle flying point and a reference center when the unmanned aerial vehicle flies according to a design drawing of a high-rise building, and establishing a three-dimensional coordinate system taking the reference center as the center according to the reference center, the unmanned aerial vehicle flying point and the design drawing of the high-rise building;
s2: determining the flight track of the unmanned aerial vehicle according to the three-dimensional coordinate system and the design drawing of the high-rise building, determining the flight parameters of the unmanned aerial vehicle in the flight process, and making the three-dimensional coordinate system, the flight track and the flight parameters into electronic data and recording the electronic data into the data storage unit;
s3: shooting a plurality of positions, which are located at different positions, on the high-rise building and in which paint repair is not required by a sprayer during flying of the unmanned aerial vehicle to obtain a plurality of first pictures, acquiring average RGB values of all pixels in each first picture through picture processing software, counting the average RGB values of all the first pictures to obtain a standard RGB value range of the positions, which are not required to be repaired on the high-rise building, and inputting the standard RGB value range into a data storage module;
s4: placing the unmanned aerial vehicle at an unmanned aerial vehicle flying starting point, and enabling the unmanned aerial vehicle to fly according to the flight track and the flight parameters determined in the step S2; the unmanned aerial vehicle records video in real time through a camera in the flying process, judges the position of the high-rise building needing paint repair, and decelerates the flying speed to a speed suitable for taking pictures after the unmanned aerial vehicle reaches the position of the high-rise building needing paint repair;
s5: after the unmanned aerial vehicle decelerates and flies to a proper speed, the camera on the unmanned aerial vehicle captures a second picture every 0.5-1S, the captured second picture is transmitted to the data processing module, the data processing module acquires the average RGB value of all pixels in each second picture, the obtained average RGB value is compared with the standard RGB value range in the step S3, and when the average RGB value of the picture is not in the standard RGB value range, the spray head of the unmanned aerial vehicle prepares to spray paint on the outer wall of the high-rise building;
s6: when a spray head of the unmanned aerial vehicle is ready to spray paint on the outer wall of the high-rise building, the distance between the unmanned aerial vehicle and the outer wall of the high-rise building is adjusted, so that the unmanned aerial vehicle is in a proper paint supplementing position in the flying process, and the balance of the unmanned aerial vehicle is adjusted through a balance control system of the unmanned aerial vehicle, so that the unmanned aerial vehicle keeps a stable flying track in the flying process;
s7: when unmanned aerial vehicle and high-rise building outer wall are in suitable touch-up paint distance, and unmanned aerial vehicle remain stable flight time, unmanned aerial vehicle carries out touch-up paint to the position that needs touch-up paint on the high-rise building outer wall through the shower nozzle, and after touch-up paint was accomplished, unmanned aerial vehicle got back to again and continues to fly on the predetermined flight orbit and look for the position that needs touch-up paint, accomplished until touch-up paint.
By adopting the technical scheme, the flight trajectory and flight parameters of the unmanned aerial vehicle can be accurately determined through the three-dimensional coordinate system, the accuracy of the unmanned aerial vehicle in paint repair can be enhanced, and accurate paint repair is realized; firstly, preliminarily judging whether the unmanned aerial vehicle needs paint repair or not through real-time video recording when the unmanned aerial vehicle normally flies (the flying speed is higher at the moment), and further determining whether the position needing paint repair is accurately judged through a second picture captured by a camera; the method initially determines the distance between the unmanned aerial vehicle and the outer wall of the high-rise building through the flight trajectory, and adjusts the distance between the unmanned aerial vehicle and the outer wall of the high-rise building again when paint repair is needed, so that the distance between the unmanned aerial vehicle and the outer wall of the high-rise building is more accurate, and the accuracy in paint spraying is further enhanced.
In a preferred example of the present invention, in step S2, the flight trajectory of the drone is that the drone makes circular motion on horizontal planes of different layers and makes lifting motion in a vertical direction, and the flight parameters include flight radii of the drone when making circular motion in horizontal directions of different layers and lifting heights of the drone rising or falling after completing the circular motion. Through adopting above-mentioned technical scheme, according to above-mentioned flight orbit and flight parameter, unmanned aerial vehicle can realize the flight along high-rise building at no dead angle, and help unmanned aerial vehicle carries out subsequent touch-up paint.
The invention can be further configured in a preferred example that in the flight track of the unmanned aerial vehicle, the flight radii of the unmanned aerial vehicle in adjacent layers are different, and the flight radii are in a gradual change form. By adopting the technical scheme, the paint repairing operation of the variable-section high-rise building can be realized, and the application range of the paint repairing operation is widened.
The present invention in a preferred example may be further configured that in step S4, the method for determining the position where paint repair is needed by the drone is as follows: manually judging the position needing paint repair according to self experience and real-time video shot by the unmanned aerial vehicle, manually sending a paint repair instruction to the unmanned aerial vehicle when the position needing paint repair is reached, and decelerating the flying speed to a speed suitable for shooting a picture after the unmanned aerial vehicle receives the paint repair instruction; and after finishing paint repair, manually sending a paint repair stopping instruction to the unmanned aerial vehicle, and stopping paint repair after the unmanned aerial vehicle receives the paint repair stopping instruction and flying to a preset flying track.
By adopting the technical scheme, the method for judging the position needing paint repair by the unmanned aerial vehicle is realized, and by the method, the position needing paint repair can be judged manually; meanwhile, by the method for judging the position of the paint repair by the unmanned aerial vehicle, people do not need to additionally call a data processing module and an RGB value acquisition module on the unmanned aerial vehicle, and the method for judging the position of the paint repair by the unmanned aerial vehicle can be used as a supplementary and forced control means of the method for judging the position of the paint repair by the unmanned aerial vehicle, so that the method has strong practicability.
The present invention in a preferred example may be further configured that in step S4, the method for determining the position where paint repair is needed by the drone is as follows: the unmanned aerial vehicle acquires the average RGB value of each picture in a video shot by the unmanned aerial vehicle through an internal RGB value acquisition module, the data processing module calls a standard RGB value range stored in the data storage module, the average RGB value of each picture is compared with the standard RGB value range, the comparison result is sent to the microprocessor, when the average RGB value of the picture is not in the RGB value, the microprocessor sends a paint supplementing instruction to the unmanned aerial vehicle, and the unmanned aerial vehicle decelerates the flying speed to a speed suitable for shooting the picture after receiving the paint supplementing instruction; and after finishing paint repair, the microprocessor sends a paint repair stopping instruction to the unmanned aerial vehicle, and the unmanned aerial vehicle stops paint repair after receiving the paint repair stopping instruction and flies to a preset flight track.
By adopting the technical scheme, the method for judging the position needing paint repair by the unmanned aerial vehicle is realized, and by the method, the paint can be automatically repaired, so that the use of human resources is reduced; meanwhile, the second method for judging the position of the paint repair by the unmanned aerial vehicle can be used as a supplementary means of the method (manual judgment) for judging the position of the paint repair by the unmanned aerial vehicle, and has strong practicability.
The present invention in a preferred example may be further configured that in step S6, the method for adjusting the distance between the drone and the outer wall of the high-rise building is as follows: the distance between unmanned aerial vehicle and the high-rise building outer wall is judged according to the degree of clarity of the video recording of self experience and unmanned aerial vehicle when flying and the size of local picture earlier to the manual work, then sends the distance adjustment instruction that is close to or keeps away from the high-rise building outer wall to unmanned aerial vehicle, and unmanned aerial vehicle is close to or keeps away from the outer wall of high-rise building according to received distance adjustment instruction, and suitable touch-up paint position is removed until unmanned aerial vehicle.
By adopting the technical scheme, the first method for adjusting the distance between the unmanned aerial vehicle and the outer wall of the high-rise building is realized, the distance between the unmanned aerial vehicle and the outer wall of the high-rise building can be further controlled manually, no additional peripheral equipment is required to be added on the unmanned aerial vehicle when the method is used, and the method is simple, low in cost and high in practicability.
The present invention in a preferred example may be further configured that in step S6, the method for adjusting the distance between the drone and the outer wall of the high-rise building is as follows: and according to the three-dimensional coordinate system determined in the step S1, storing a paint repair track which should be kept by the unmanned aerial vehicle during paint repair in the data storage unit, and when paint repair is needed, directly flying to the preset paint repair track after the unmanned aerial vehicle decelerates.
By adopting the technical scheme, the invention realizes the second method for adjusting the distance between the unmanned aerial vehicle and the outer wall of the high-rise building, and in the actual working process, in order to further increase the accuracy of the paint coating track, the invention can arrange an infrared device for auxiliary positioning outside the high-rise building.
The present invention in a preferred example may be further configured that in step S6, the method for adjusting the distance between the drone and the outer wall of the high-rise building is as follows: the installation can survey the ultrasonic ranging appearance of distance between unmanned aerial vehicle and the high-rise building outer wall in real time on unmanned aerial vehicle to store the best paint repair distance of suitable paint repair between unmanned aerial vehicle and the high-rise building outer wall in advance in the data storage unit, unmanned aerial vehicle is according to ultrasonic ranging appearance's detection result, and the best paint repair distance of prestoring, the distance between automatically regulated unmanned aerial vehicle and the high-rise building outer wall.
By adopting the technical scheme, the third method for adjusting the distance between the unmanned aerial vehicle and the outer wall of the high-rise building is realized, and the method can enable the unmanned aerial vehicle to accurately control the distance between the unmanned aerial vehicle and the outer wall of the high-rise building by erecting the ultrasonic distance meter on the unmanned aerial vehicle and by the ultrasonic distance meter and the optimal paint repair distance.
In a preferred example, the present invention may be further configured to check the paint repair effect of the high-rise building after the paint repair of the high-rise building is completed, specifically: and under the condition that other flight parameters are not modified, the ascending or descending height of the unmanned aerial vehicle in each flight is adjusted to be 1/3-2/3 of the normal ascending or descending height, the unmanned aerial vehicle flies again according to the steps S3-S7, paint is repaired at the position where paint is needed, and paint is not needed. By adopting the technical scheme, the invention can carry out omnibearing paint repair without dead angles on high-rise buildings, and can not omit the positions on the high-rise buildings where paint repair is needed.
In summary, the invention includes at least one of the following beneficial technical effects:
1. according to the invention, the flight trajectory and flight parameters of the unmanned aerial vehicle can be accurately determined through the three-dimensional coordinate system, the accuracy of the unmanned aerial vehicle in paint repair can be enhanced, and accurate paint repair is realized; firstly, preliminarily judging whether the unmanned aerial vehicle needs paint repair or not through real-time video recording when the unmanned aerial vehicle normally flies (the flying speed is higher at the moment), and further determining whether the position needing paint repair is accurately judged through a second picture (the flying speed is lower at the moment) captured by a camera; the method initially determines the distance between the unmanned aerial vehicle and the outer wall of the high-rise building through the flight trajectory, and adjusts the distance between the unmanned aerial vehicle and the outer wall of the high-rise building again when paint repair is needed, so that the distance between the unmanned aerial vehicle and the outer wall of the high-rise building is more accurate, and the accuracy in paint spraying is further enhanced.
The invention is suitable for paint repair of buildings which are high in height and round as a whole, and paint is suitable for paint repair of chimneys. The invention provides two methods for helping an unmanned aerial vehicle to judge the position needing paint repair, and provides three methods for helping the unmanned aerial vehicle to control the distance between the unmanned aerial vehicle and a high-rise building, so that people can select a proper mode according to the needs, and the practicability of the invention is improved.
According to the method for controlling the distance between the unmanned aerial vehicle and the high-rise building, the distance between the unmanned aerial vehicle and the outer wall of the high-rise building can be controlled manually and forcibly, the distance between the unmanned aerial vehicle and the outer wall of the high-rise building can be further controlled automatically by the paint supplementing track, the unmanned aerial vehicle can be further controlled automatically and more accurately by the ultrasonic distance meter and the optimal paint supplementing distance, and the three methods for controlling the distance can be combined with each other for use, so that the distance between the unmanned aerial vehicle and the outer wall of the high-rise building can be further controlled more accurately.
Drawings
FIG. 1 is a schematic structural diagram of a high-rise building paint repair method according to the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, the invention provides a method for repairing paint of ultra-large high-rise building based on unmanned aerial vehicle, comprising the following steps,
s1: determining the starting point and the reference center of the unmanned aerial vehicle, establishing a three-dimensional coordinate system,
determining an unmanned aerial vehicle flying point and a reference center when the unmanned aerial vehicle flies according to a design drawing of a high-rise building, and establishing a three-dimensional coordinate system taking the reference center as the center according to the reference center, the unmanned aerial vehicle flying point and the design drawing of the high-rise building;
in actual operation, the reference center (zero point in three-dimensional coordinate system) of the unmanned aerial vehicle during flying can be the intersection of the central axis of the high-rise building and the ground, the unmanned aerial vehicle flying point can be the connecting line of the reference center and the door entrance center (or the door exit center) of the high-rise building, which extends outwards 0.5m, that is, the unmanned aerial vehicle flying point can be the connecting line of the bottom entrance of the side wall entrance of the high-rise building (installed on the bottom surface) which extends outwards 0.5m, meanwhile, the unmanned aerial vehicle flying point can also be arranged at other places, as long as the unmanned aerial vehicle flying point is positioned outside the high-rise building (preferably, the distance from the side wall of the high-rise building is 0.5 m), the X-axis of the three-dimensional coordinate system can be the connecting line of the unmanned aerial vehicle flying point and the reference center of the unmanned aerial vehicle during flying (the side where the unmanned aerial vehicle flying point is positioned on the X-axis is positive), the axis (ground) perpendicular to the X-axis is, the left side of the unmanned aerial vehicle flying point is positive, the right side is negative), and the central axis of the high-rise building can be the Z axis (the upper part of the reference center is positive, and the lower part of the reference center is negative). In actual work, people can set the unmanned aerial vehicle flying point, the reference center, the X axis, the Y axis and the Z axis according to own preference as long as the five parameters meet the relevant standard (such as solid geometry).
: determining the flight track and flight parameters of the unmanned aerial vehicle,
determining the flight track of the unmanned aerial vehicle according to the three-dimensional coordinate system and the design drawing of the high-rise building, determining the flight parameters of the unmanned aerial vehicle in the flight process, and making the three-dimensional coordinate system, the flight track and the flight parameters into electronic data and recording the electronic data into the data storage unit;
s3: the part of the unmanned aerial vehicle which does not need paint repair is photographed in advance, and a standard RGB value range is obtained,
shooting a plurality of positions, which are located at different positions, on the high-rise building and in which paint repair is not required by a sprayer during flying of the unmanned aerial vehicle to obtain a plurality of first pictures, acquiring average RGB values (called as average RGB values of pictures for short) of all pixels in each first picture through picture processing software, counting the average RGB values of all the first pictures to obtain a standard RGB value range of the positions, which are not required to be repaired on the high-rise building, and inputting the standard RGB value range into a data storage module;
in actual work, the method is particularly suitable for paint repair of the outer wall of a large chimney, meanwhile, the prior art is adopted for obtaining the RGB values of pixels from the picture through picture processing software (such as Potoshop or coreldraw), no repeated description is given here, before the unmanned aerial vehicle starts to take a picture, multiple positions on a high-rise building where paint repair is not needed are firstly taken (for multiple times), and the average RGB values of all pixels in different pictures are obtained through Potoshop software. In practical work, because the high-rise building is basically painted when constructed, and basically, the painting is carried out by adopting uniform colors (for example, all pictures are gray, and all pictures are composed of red or white), the difference of the RGB values of different pixels on the same picture is very small (possibly the same numerical value), so that the average RGB value of all pixels in the picture is an important parameter, and the color of the existing paint on the high-rise building can be really reflected basically.
When the average RGB value of each picture (first picture) which does not need paint repair is sorted and counted together, a reasonable standard RGB value range which does not need paint repair can be obtained. When the RGB value of the picture (photo) shot by the unmanned aerial vehicle is not in the standard RGB value range, paint repair can be carried out on the high-rise building. During paint repair, comparing the average RGB value of the shot picture (such as a second picture) needing paint repair with the standard RGB value range, checking whether the average RGB value is within the standard RGB value range, if so, not using paint repair, and continuing flying by the unmanned aerial vehicle; if not, the unmanned aerial vehicle decelerates, and further determines whether the average RGB value of the picture is in the standard RGB value range or not, and then determines whether paint repair is needed or not.
: judging the position of the high-rise building needing paint repair according to the video of the unmanned aerial vehicle during flying,
placing the unmanned aerial vehicle at an unmanned aerial vehicle flying starting point, and enabling the unmanned aerial vehicle to fly according to the flight track and the flight parameters determined in the step S2; the unmanned aerial vehicle records video in real time through a camera in the flying process, judges the position of the high-rise building needing paint repair, and decelerates the flying speed to a speed suitable for taking pictures after the unmanned aerial vehicle reaches the position of the high-rise building needing paint repair;
s5: the unmanned aerial vehicle decelerates and captures real-time pictures through the camera, when the average RGB value of the pictures is not in the standard RGB value range, paint repair is prepared,
after the unmanned aerial vehicle decelerates and flies to a proper speed, a camera on the unmanned aerial vehicle captures a second picture at intervals of 0.5-1S (such as from the video in step S4), the captured second picture is transmitted to the data processing module, the data processing module collects the average RGB value (the average RGB value of the picture for short) of all pixels in each second picture, the obtained average RGB value is compared with the standard RGB value range in step S3, and when the average RGB value of the picture is not in the standard RGB value range, a spray head of the unmanned aerial vehicle prepares to spray paint on the outer wall of the high-rise building;
s6: the distance between the unmanned aerial vehicle and the outer wall of the high-rise building is adjusted, the balance of the unmanned aerial vehicle is adjusted,
when a spray head of the unmanned aerial vehicle is ready to spray paint on the outer wall of the high-rise building, the distance between the unmanned aerial vehicle and the outer wall of the high-rise building is adjusted, so that the unmanned aerial vehicle is in a proper paint supplementing position in the flying process, and the balance of the unmanned aerial vehicle is adjusted through a balance control system of the unmanned aerial vehicle, so that the unmanned aerial vehicle keeps a stable flying track in the flying process;
s7: the paint is sprayed on the surface of the substrate,
when unmanned aerial vehicle and high-rise building outer wall are in suitable touch-up paint distance, and unmanned aerial vehicle remain stable flight time, unmanned aerial vehicle carries out touch-up paint to the position that needs touch-up paint on the high-rise building outer wall through the shower nozzle, and after touch-up paint was accomplished, unmanned aerial vehicle got back to again and continues to fly on the predetermined flight orbit and look for the position that needs touch-up paint, accomplished until touch-up paint.
According to the invention, the flight trajectory and flight parameters of the unmanned aerial vehicle can be accurately determined through the three-dimensional coordinate system, the accuracy of the unmanned aerial vehicle in paint repair can be enhanced, and accurate paint repair is realized; firstly, preliminarily judging whether the unmanned aerial vehicle needs paint repair or not through real-time video recording when the unmanned aerial vehicle normally flies (the flying speed is higher at the moment), and further determining whether the position needing paint repair is accurately judged through a second picture captured by a camera; the method initially determines the distance between the unmanned aerial vehicle and the outer wall of the high-rise building through the flight trajectory, and adjusts the distance between the unmanned aerial vehicle and the outer wall of the high-rise building again when paint repair is needed, so that the distance between the unmanned aerial vehicle and the outer wall of the high-rise building is more accurate, and the accuracy in paint spraying is further enhanced.
In step S2, the flight trajectory of the unmanned aerial vehicle is that the unmanned aerial vehicle makes circular motion on the horizontal planes of different layers, and makes lifting motion in the vertical direction, and the flight parameters include the flight radius of the unmanned aerial vehicle when making circular motion in the horizontal directions of different layers, and the lifting height of the unmanned aerial vehicle after completing the circular motion. Through adopting above-mentioned technical scheme, according to above-mentioned flight orbit and flight parameter, unmanned aerial vehicle can realize the flight along high-rise building at no dead angle, and help unmanned aerial vehicle carries out subsequent touch-up paint.
In the flight track of the unmanned aerial vehicle, the flight radiuses of the unmanned aerial vehicle on adjacent layers are different, and the flight radiuses are in a gradual change form. By adopting the technical scheme, the paint repairing operation of the variable-section high-rise building can be realized, and the application range of the paint repairing operation is widened.
During actual work, the unmanned aerial vehicle moves a circle along the outside of a high-rise building, and moves a station upwards (or downwards) when the position needing paint repair is not found or the horizontal position of the circle is finished; and after reaching the appointed station, continuing to make circular motion along the exterior of the high-rise building according to the set motion radius, performing paint repair on the position needing paint repair again, if the circle does not need paint repair, continuing to rise until the circle meets the position needing paint repair, decelerating, and finally finishing the paint repair treatment of the whole high-rise building.
In step S4, the first method for determining the position where paint repair is needed by the drone is as follows: manually judging the position needing paint repair according to self experience and real-time video shot by the unmanned aerial vehicle, manually sending a paint repair instruction to the unmanned aerial vehicle when the position needing paint repair is reached, and decelerating the flying speed to a speed suitable for shooting a picture after the unmanned aerial vehicle receives the paint repair instruction; and after finishing paint repair, manually sending a paint repair stopping instruction to the unmanned aerial vehicle, and stopping paint repair after the unmanned aerial vehicle receives the paint repair stopping instruction and flying to a preset flying track. .
By adopting the technical scheme, the method for judging the position needing paint repair by the unmanned aerial vehicle is realized, and by the method, the position needing paint repair can be judged manually; meanwhile, by the method for judging the position of the paint repair by the unmanned aerial vehicle, people do not need to additionally call a data processing module and an RGB value acquisition module on the unmanned aerial vehicle, and the method for judging the position of the paint repair by the unmanned aerial vehicle can be used as a supplementary and forced control means of the method for judging the position of the paint repair by the unmanned aerial vehicle, so that the method has strong practicability.
In step S4, the second method for determining the position where paint repair is needed by the drone is as follows: the unmanned aerial vehicle acquires the average RGB value of each picture in a video shot by the unmanned aerial vehicle through an internal RGB value acquisition module, the data processing module calls a standard RGB value range stored in the data storage module, the average RGB value of each picture is compared with the standard RGB value range, the comparison result is sent to the microprocessor, when the average RGB value of the picture is not in the RGB value, the microprocessor sends a paint supplementing instruction to the unmanned aerial vehicle, and the unmanned aerial vehicle decelerates the flying speed to a speed suitable for shooting the picture after receiving the paint supplementing instruction; and after finishing paint repair, the microprocessor sends a paint repair stopping instruction to the unmanned aerial vehicle, and the unmanned aerial vehicle stops paint repair after receiving the paint repair stopping instruction and flies to a preset flight track.
By the method, the paint can be automatically repaired, and the use of human resources is reduced; meanwhile, the second method for judging the position of the paint repair by the unmanned aerial vehicle can be used as a supplementary means of the method (manual judgment) for judging the position of the paint repair by the unmanned aerial vehicle, and has strong practicability.
In step S6, the first method for adjusting the distance between the drone and the outer wall of the high-rise building is as follows: the distance between unmanned aerial vehicle and the high-rise building outer wall is judged according to the degree of clarity of the video recording of self experience and unmanned aerial vehicle when flying and the size of local picture earlier to the manual work, then sends the distance adjustment instruction that is close to or keeps away from the high-rise building outer wall to unmanned aerial vehicle, and unmanned aerial vehicle is close to or keeps away from the outer wall of high-rise building according to received distance adjustment instruction, and suitable touch-up paint position is removed until unmanned aerial vehicle.
The first distance control method can further control the distance between the unmanned aerial vehicle and the outer wall of the high-rise building through manual work, and when the method is used, no additional peripheral equipment is required to be added on the unmanned aerial vehicle, so that the method is simple, the cost is lower, and the practicability is very high.
In step S6, the second method for adjusting the distance between the drone and the outer wall of the high-rise building is as follows: and according to the three-dimensional coordinate system determined in the step S1, storing a paint repair track which should be kept by the unmanned aerial vehicle during paint repair in the data storage unit, and when paint repair is needed, directly flying to the preset paint repair track after the unmanned aerial vehicle decelerates.
In actual work, in order to further increase the accuracy of the paint repair track, the infrared device for auxiliary positioning can be arranged outside the high-rise building, and through the mode, the distance between the unmanned aerial vehicle and the outer wall of the high-rise building can be further controlled.
During actual work, on the same horizontal plane, the paint repair radius of the unmanned aerial vehicle in the paint repair state is smaller than the flight radius of the unmanned aerial vehicle in the non-paint repair state. And in the paint repairing track and the flight radius which are positioned on the same layer, the paint repairing radius of the paint repairing track is smaller than the flight radius of the flight track.
In step S6, the third method for adjusting the distance between the drone and the outer wall of the high-rise building is as follows: the installation can survey the ultrasonic ranging appearance of distance between unmanned aerial vehicle and the high-rise building outer wall in real time on unmanned aerial vehicle to store the best paint repair distance of suitable paint repair between unmanned aerial vehicle and the high-rise building outer wall in advance in the data storage unit, unmanned aerial vehicle is according to ultrasonic ranging appearance's detection result, and the best paint repair distance of prestoring, the distance between automatically regulated unmanned aerial vehicle and the high-rise building outer wall.
According to the third distance adjusting method, the ultrasonic distance measuring instrument is erected on the unmanned aerial vehicle, and the distance between the unmanned aerial vehicle and the outer wall of the high-rise building can be accurately controlled through the ultrasonic distance measuring instrument and the optimal paint repairing distance.
In practice, this third method for adjusting the distance may be used as a supplement to the first method for adjusting the distance and the second method for adjusting the distance in step S6.
Simultaneously, unmanned aerial vehicle adjusts the equilibrium of unmanned aerial vehicle flight in-process through self built-in balance control system to further require unmanned aerial vehicle to have better anti-wind function, belong to the more conventional problem in the unmanned aerial vehicle field of making, have now on the market many kinds of unmanned aerial vehicle (like the Mavic unmanned aerial vehicle of big jiang) that satisfy above-mentioned requirement, consequently, to how unmanned aerial vehicle controls the equilibrium of self flight in-process, do not do here and describe repeatedly.
After the high-rise building finishes paint repair, the paint repair effect of the high-rise building can be checked, and the method specifically comprises the following steps: under the condition that other flight parameters are not modified, the ascending or descending height of the unmanned aerial vehicle during flying each time is adjusted to be 1/3-2/3 (preferably the ascending or descending height 1/2 of normal flying) of normal flying ascending or descending height, the unmanned aerial vehicle flies again according to the steps S3-S7, paint is repaired at the position where paint repair is needed, and paint repair is not needed. The invention can carry out omnibearing paint repair without dead angles on high-rise buildings, and can not omit the positions on the high-rise buildings where paint repair is needed.
The embodiments of the present invention are preferred embodiments of the present invention, and the scope of the present invention is not limited by these embodiments, so: all equivalent changes made according to the structure, shape and principle of the invention are covered by the protection scope of the invention.
Claims (9)
1. An ultra-large high-rise building paint repair method based on an unmanned aerial vehicle is characterized by comprising the following steps,
s1: determining an unmanned aerial vehicle flying point and a reference center when the unmanned aerial vehicle flies according to a design drawing of a high-rise building, and establishing a three-dimensional coordinate system taking the reference center as the center according to the reference center, the unmanned aerial vehicle flying point and the design drawing of the high-rise building;
s2: determining the flight track of the unmanned aerial vehicle according to the three-dimensional coordinate system and the design drawing of the high-rise building, determining the flight parameters of the unmanned aerial vehicle in the flight process, and making the three-dimensional coordinate system, the flight track and the flight parameters into electronic data and recording the electronic data into the data storage unit;
s3: shooting a plurality of positions, which are located at different positions, on the high-rise building and in which paint repair is not required by a sprayer during flying of the unmanned aerial vehicle to obtain a plurality of first pictures, acquiring average RGB values of all pixels in each first picture through picture processing software, counting the average RGB values of all the first pictures to obtain a standard RGB value range of the positions, which are not required to be repaired on the high-rise building, and inputting the standard RGB value range into a data storage module;
s4: placing the unmanned aerial vehicle at an unmanned aerial vehicle flying starting point, and enabling the unmanned aerial vehicle to fly according to the flight track and the flight parameters determined in the step S2; the unmanned aerial vehicle records video in real time through a camera in the flying process, judges the position of the high-rise building needing paint repair, and decelerates the flying speed to a speed suitable for taking pictures after the unmanned aerial vehicle reaches the position of the high-rise building needing paint repair;
s5: after the unmanned aerial vehicle decelerates and flies to a proper speed, the camera on the unmanned aerial vehicle captures a second picture every 0.5-1S, the captured second picture is transmitted to the data processing module, the data processing module acquires the average RGB value of all pixels in each second picture, the obtained average RGB value is compared with the standard RGB value range in the step S3, and when the average RGB value of the picture is not in the standard RGB value range, the spray head of the unmanned aerial vehicle prepares to spray paint on the outer wall of the high-rise building;
s6: when a spray head of the unmanned aerial vehicle is ready to spray paint on the outer wall of the high-rise building, the distance between the unmanned aerial vehicle and the outer wall of the high-rise building is adjusted, so that the unmanned aerial vehicle is in a proper paint supplementing position in the flying process, and the balance of the unmanned aerial vehicle is adjusted through a balance control system of the unmanned aerial vehicle, so that the unmanned aerial vehicle keeps a stable flying track in the flying process;
s7: when unmanned aerial vehicle and high-rise building outer wall are in suitable touch-up paint distance, and unmanned aerial vehicle remain stable flight time, unmanned aerial vehicle carries out touch-up paint to the position that needs touch-up paint on the high-rise building outer wall through the shower nozzle, and after touch-up paint was accomplished, unmanned aerial vehicle got back to again and continues to fly on the predetermined flight orbit and look for the position that needs touch-up paint, accomplished until touch-up paint.
2. The paint replenishing method for the ultra-large high-rise building based on the unmanned aerial vehicle according to claim 1, wherein in step S2, the flight trajectory of the unmanned aerial vehicle is that the unmanned aerial vehicle makes circular motion on the horizontal planes of different floors and makes lifting motion in the vertical direction, and the flight parameters include the flight radius of the unmanned aerial vehicle when making circular motion on the horizontal directions of different floors and the lifting height of the unmanned aerial vehicle when ascending or descending after completing the circular motion.
3. The unmanned aerial vehicle-based paint patching method for the ultra-large high-rise building is characterized in that in the flight trajectory of the unmanned aerial vehicle, the flight radii of the unmanned aerial vehicle on adjacent layers are different, and the flight radii are in a gradual change form.
4. The paint repairing method for the ultra-large high-rise building based on the unmanned aerial vehicle as claimed in claim 2, wherein in step S4, the method for the unmanned aerial vehicle to determine the position where paint repairing is needed is as follows: manually judging the position needing paint repair according to self experience and real-time video shot by the unmanned aerial vehicle, manually sending a paint repair instruction to the unmanned aerial vehicle when the position needing paint repair is reached, and decelerating the flying speed to a speed suitable for shooting a picture after the unmanned aerial vehicle receives the paint repair instruction; and after finishing paint repair, manually sending a paint repair stopping instruction to the unmanned aerial vehicle, and stopping paint repair after the unmanned aerial vehicle receives the paint repair stopping instruction and flying to a preset flying track.
5. The paint repairing method for the ultra-large high-rise building based on the unmanned aerial vehicle as claimed in claim 2, wherein in step S4, the method for the unmanned aerial vehicle to determine the position where paint repairing is needed is as follows: the unmanned aerial vehicle acquires the average RGB value of each picture in a video shot by the unmanned aerial vehicle through an internal RGB value acquisition module, the data processing module calls a standard RGB value range stored in the data storage module, the average RGB value of each picture is compared with the standard RGB value range, the comparison result is sent to the microprocessor, when the average RGB value of the picture is not in the RGB value, the microprocessor sends a paint supplementing instruction to the unmanned aerial vehicle, and the unmanned aerial vehicle decelerates the flying speed to a speed suitable for shooting the picture after receiving the paint supplementing instruction; and after finishing paint repair, the microprocessor sends a paint repair stopping instruction to the unmanned aerial vehicle, and the unmanned aerial vehicle stops paint repair after receiving the paint repair stopping instruction and flies to a preset flight track.
6. The method for touch-up painting of ultra-large high-rise building based on unmanned aerial vehicle according to any one of claims 1 to 5, wherein in step S6, the method for adjusting the distance between the unmanned aerial vehicle and the outer wall of the high-rise building is as follows: the distance between unmanned aerial vehicle and the high-rise building outer wall is judged according to the degree of clarity of the video recording of self experience and unmanned aerial vehicle when flying and the size of local picture earlier to the manual work, then sends the distance adjustment instruction that is close to or keeps away from the high-rise building outer wall to unmanned aerial vehicle, and unmanned aerial vehicle is close to or keeps away from the outer wall of high-rise building according to received distance adjustment instruction, and suitable touch-up paint position is removed until unmanned aerial vehicle.
7. The method for touch-up painting of ultra-large high-rise building based on unmanned aerial vehicle according to any one of claims 1 to 5, wherein in step S6, the method for adjusting the distance between the unmanned aerial vehicle and the outer wall of the high-rise building is as follows: the distance between unmanned aerial vehicle and the high-rise building outer wall is judged according to the degree of clarity of the video recording of self experience and unmanned aerial vehicle when flying and the size of local picture earlier to the manual work, then sends the distance adjustment instruction that is close to or keeps away from the high-rise building outer wall to unmanned aerial vehicle, and unmanned aerial vehicle is close to or keeps away from the outer wall of high-rise building according to received distance adjustment instruction, and suitable touch-up paint position is removed until unmanned aerial vehicle.
8. The method for touch-up painting of ultra-large high-rise building based on unmanned aerial vehicle according to any one of claims 1 to 5, wherein in step S6, the method for adjusting the distance between the unmanned aerial vehicle and the outer wall of the high-rise building is as follows: the installation can survey the ultrasonic ranging appearance of distance between unmanned aerial vehicle and the high-rise building outer wall in real time on unmanned aerial vehicle to store the best paint repair distance of suitable paint repair between unmanned aerial vehicle and the high-rise building outer wall in advance in the data storage unit, unmanned aerial vehicle is according to ultrasonic ranging appearance's detection result, and the best paint repair distance of prestoring, the distance between automatically regulated unmanned aerial vehicle and the high-rise building outer wall.
9. The unmanned aerial vehicle-based paint patching method for the ultra-large high-rise building is characterized in that after the paint patching of the high-rise building is finished, the paint patching effect of the high-rise building can be checked, and the method specifically comprises the following steps: and under the condition that other flight parameters are not modified, the ascending or descending height of the unmanned aerial vehicle in each flight is adjusted to be 1/3-2/3 of the normal ascending or descending height, the unmanned aerial vehicle flies again according to the steps S3-S7, paint is repaired at the position where paint is needed, and paint is not needed.
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