CN203620847U - Rotorcraft-based aerial spraying system - Google Patents
Rotorcraft-based aerial spraying system Download PDFInfo
- Publication number
- CN203620847U CN203620847U CN201320533565.7U CN201320533565U CN203620847U CN 203620847 U CN203620847 U CN 203620847U CN 201320533565 U CN201320533565 U CN 201320533565U CN 203620847 U CN203620847 U CN 203620847U
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- control system
- rotor craft
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- paint finishing
- shower nozzle
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Abstract
The utility model relates to a rotorcraft-based aerial spraying system. The system comprises a control system, the rotorcraft and a spraying system. The spraying system comprises a nozzle arranged on the rotorcraft. The control system controls the flying tracks of the rotorcraft and spraying parameters of the spraying system. The rotorcraft is provided with a flying control panel connected to the control system, and the flying control panel controls the rotorcraft to fly. The spraying system is connected with the control system and sprays to aerial building outer facades according to the spraying parameters. By arranging the nozzle on the rotorcraft, the rotorcraft is controlled by the ground control system to deliver the nozzle to the sprayed position of the aerial building outer facades to spray, operators are far from the operating sites, risks in manual aerial operation are avoided, and operating efficiency is improved greatly by automatically controlling spraying operation through the control system.
Description
Technical field
The utility model relates to motion control field, relates in particular to a kind of high-altitude paint finishing based on rotor craft.
Background technology
In the last few years, the building in city was more and more higher, caused spraying and the washing and cleaning operation difficulty of building.Traditional spraying and cleaning way all rely on artificial work high above the ground, and not only danger coefficient is high, and labour intensity is large, and operating efficiency and operation quality all can not be guaranteed.Proposed now a kind of building spraying robot robot system, but robot area occupied is large, spraying is highly also very limited, and can not meet the spraying demand of skyscraper.
Utility model content
For technical problem to be solved in the utility model is, a kind of high-altitude paint finishing based on rotor craft is proposed, replace manually the outer facade of skyscraper is carried out to spraying operation, avoid the danger of artificial work high above the ground.
A kind of high-altitude paint finishing based on rotor craft that the utility model provides, for the outer facade of skyscraper is implemented to spraying, is characterized in that, comprises control system, rotor craft, paint finishing; Described paint finishing comprises a shower nozzle, and this shower nozzle is arranged on described rotor craft;
The flight path of rotor craft and the spray parameters of described paint finishing described in described set-up of control system;
On described rotor craft, be provided with flight control panel, described flight control panel is connected with described control system, according to rotary-wing flight described in described flight path control;
Described paint finishing is connected with described control system, according to described spray parameters, the outer facade of described skyscraper is implemented to spraying.
Further, on described rotor craft, be also provided with the gyro sensor being connected with described control system; Described control system detects the flight attitude of described rotor craft in real time by this gyro sensor, and the flight attitude of controlling in real time this rotor craft by flight control panel is to guarantee the stable of its flight attitude.
Further, on described rotor craft, be also provided with the range sensor being connected with described control system; Described control system detects the distance of the outer facade of described rotor craft and described skyscraper in real time by this range sensor, and control in real time this rotor craft and the described skyscraper distance of facade outward by described flight control panel, itself and setpoint distance moment are consistent.
Further, on described rotor craft, be also provided with the flight environment of vehicle detecting unit being connected with described control system; Described control system is by the flight environment of vehicle of rotor craft described in described flight environment of vehicle detecting unit Real-Time Monitoring, and is not suitable for when this rotor craft continues flight making a return voyage by this rotor craft of described flight control panel control at described flight environment of vehicle.
Further, on described rotor craft, be provided with a camera being connected with described control system, for monitoring the spraying process of described shower nozzle, and the picture of shooting sent it back to described control system.
Further, on institute of institute rotor craft, be provided with the GPS positioner being connected with described control system.
Further, described paint finishing comprises connection successively:
Coating filling apparatus, for the coating of annotating;
Supercharging device, is used to described coating supercharging;
Conveyance conduit, is connected with described shower nozzle, for delivery of described coating.
Further, described supercharging device is gas-liquid booster pump.
Further, on described shower nozzle, be also provided with the nozzle switch being connected with described control system, for control the break-make of described shower nozzle according to the order of described control system.
Further, on described shower nozzle, be also provided with the shower nozzle direction-control apparatus being connected with described control system, for control the direction of described shower nozzle according to the order of described control system.
The utility model is by being arranged on shower nozzle on rotor craft, by ground control system control rotor craft, shower nozzle is transported to the position enforcement spraying that the outer facade of skyscraper need to spray, make operating personnel away from operation field, avoid the danger of artificial work high above the ground, also greatly improved operating efficiency by the operation of control system automatic control spraying simultaneously.
Accompanying drawing explanation
Fig. 1: the high-altitude paint finishing work schematic diagram based on rotor craft that the utility model provides;
Fig. 2: the high-altitude paint finishing composition frame chart based on rotor craft that the utility model provides.
The specific embodiment
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein is only for explaining the utility model, and be not used in restriction the utility model.
The utility model provides a kind of high-altitude paint finishing based on rotor craft, for replacing manually, the outer facade of skyscraper is implemented to spraying operation.
As shown in Figure 1, this system comprises: control system 1, rotor craft 2, paint finishing 3.Control system 1 is as the control axis of whole high-altitude paint finishing, for controlling the flight of rotor craft 2 and the spraying of paint finishing 3.Rotor craft 2 flies according to the flight parameter of setting according to the order of control system 1.In rotor craft 2 flight courses, paint finishing 3 is transported to spraying position by coating by conveyance conduit 33 according to the order of control system 1, sprays, thereby the outer facade of skyscraper is implemented to spraying by shower nozzle 29.Control system 1 is arranged at the safety zone of ground away from spraying operation district, and spraying operation personnel only need just can control spraying process in safety zone operation control system 1, thereby has guaranteed spraying operation personnel's safety.
As shown in Figure 2, control system 1 can adopt the intelligent terminal based on PC, panel computer, smart mobile phone, notebook etc., and the control program of rotor craft 2 and paint finishing 3 is installed in this intelligent terminal.On rotor craft 2, be provided with: flight control panel 21, GPS positioner 22, range sensor 23, gyro sensor 24, camera 25, flight environment of vehicle detecting unit 26, shower nozzle direction-control apparatus 27, nozzle switch 28, shower nozzle 29.Paint finishing 3 comprises: the coating filling apparatus 31, supercharging device 32, the conveyance conduit 33 that connect successively, conveyance conduit 33 is connected with shower nozzle 29.Above flight control panel 21, GPS positioner 22, range sensor 23, gyro sensor 24, camera 25, flight environment of vehicle detecting unit 26, shower nozzle direction-control apparatus 27, nozzle switch 28, coating filling apparatus 31, supercharging device 32 are all connected with control system 1 by wireless mode, as Wi-Fi etc.
The Whole Work Flow of native system is: flight parameter is sent to the flight control panel 21 on rotor craft 2 by control system 1, and flight parameter comprises flight path, flying speed etc.Flight control panel 21 is controlled rotor craft 2 according to this flight parameter flight after receiving flight parameter.Meanwhile, spray parameters is sent to paint finishing 3 by control system 1, and spray parameters mainly comprises spray pressure etc.In rotor craft 2 flight courses, coating filling apparatus 31 is according to the order filling coating of control system 1, and coating by conveyance conduit 33, is finally sprayed by shower nozzle 29 after supercharging device 32 superchargings, thereby realizes the spraying to the outer facade of skyscraper.In spraying process, supercharging device 32 makes coating remain consistent spray pressure at shower nozzle 29 places according to the order of control system 1, to guarantee the uniformity of spraying effect.
The flight path of rotor craft 2 is that the GPS positioner 22 by being connected with control system 1 is realized.Particularly, certain point that can first choose on the outer facade of skyscraper is initial point, the general upper left corner original position of selecting the outer facade of skyscraper is initial point, measure the GPS position coordinates of this point, then calculate the GPS position coordinates of other points on this facade according to the GPS position coordinates of this point, so just determined the GPS position coordinates of each point on this facade.After the GPS position coordinates of each point on facade is determined, calculate the GPS position coordinates of the rotor craft corresponding with each point on this external wall 2 according to the spray distance of setting again, thereby set up the corresponding relation of the GPS position coordinates of the spraying point on rotor craft 2 and the outer facade of skyscraper.Then, determine the flight path of rotor craft 2 according to the spraying profile on the outer facade of the skyscraper of setting and this corresponding relation.After flight path is determined, the position of the rotor craft 2 that control system 1 detects in real time according to GPS positioner 22 sends corresponding control command to described flight control panel 21, controls rotor craft 2 according to this flight path flight by flight control panel 21.
The distance of the outer facade of rotor craft 2 and skyscraper has influence on the distance of shower nozzle 29 and the outer facade of skyscraper simultaneously.Shower nozzle 29 should keep the constant consistent spraying effect of just guaranteeing with the distance of the outer facade of skyscraper.Therefore, on rotor craft 2, be also provided with range sensor 23, range sensor 23 detects the distance of the outer facade of rotor craft 2 and skyscraper in real time, and send it to control system 1, whether control system 1 relatively this distance is consistent with setpoint distance, as inconsistent, send control command and control rotor craft 2 and make corresponding flight to flight control panel 21, distance and the setpoint distance of facade are consistent outward with skyscraper to make it.
For keeping the flight attitude of rotor craft 2 stable, on rotor craft 2, be also provided with gyro sensor 24.Gyrosensor 24 detects the real-time flight attitude of rotor craft 2, and send it to control system 1,1 real-time flight attitude according to rotor craft 2 of control system sends control command to the flight attitude of control panel 21 with control rotor craft 2 that fly, and makes it keep stable.
On rotor craft 2, be also provided with camera 25, for monitoring the spraying process of shower nozzle 29, and supervision picture sent it back to control system 1.
For guaranteeing the security of rotor craft 2, avoid fortuitous event to occur, native system is also provided with flight environment of vehicle detecting unit 26 on rotor craft 2.Flight environment of vehicle detecting unit 26 can be any one or the multiple combination in wind sensor, temperature sensor, humidity sensor.Control system 1 is by the flight environment of vehicle of flight environment of vehicle detecting unit 26 Real-Time Monitoring rotor crafts 2, and in the time being not suitable for rotor craft 2 when flight environment of vehicle and continuing flight (as, wind-force exceedes maximum can bear wind-force, humiture not at normal work temperature humidity range) send control command and make a return voyage with control rotor craft 2 to described flight control panel 21.
On rotor craft 2, be also provided with shower nozzle direction-control apparatus 27 and nozzle switch 28, shower nozzle direction-control apparatus 27 can receiving control system 1 control command to regulate the spraying direction of shower nozzle 29, realize multi-faceted spraying, the order that nozzle switch 28 can receiving control system 1 realizes opening or closing shower nozzle 29.
The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all any modifications of doing within spirit of the present utility model and principle, be equal to and replace and improvement etc., within all should being included in protection domain of the present utility model.
Claims (10)
1. the high-altitude paint finishing based on rotor craft, for the outer facade of skyscraper is implemented to spraying, is characterized in that, comprises control system, rotor craft, paint finishing; Described paint finishing comprises a shower nozzle, and this shower nozzle is arranged on described rotor craft;
The flight path of rotor craft and the spray parameters of described paint finishing described in described set-up of control system;
On described rotor craft, be provided with flight control panel, described flight control panel is connected with described control system, according to rotary-wing flight described in described flight path control;
Described paint finishing is connected with described control system, according to described spray parameters, the outer facade of described skyscraper is implemented to spraying.
2. high-altitude as claimed in claim 1 paint finishing, is characterized in that, is also provided with the gyro sensor being connected with described control system on described rotor craft; Described control system detects the flight attitude of described rotor craft in real time by this gyro sensor, and the flight attitude of controlling in real time this rotor craft by flight control panel is to guarantee the stable of its flight attitude.
3. high-altitude as claimed in claim 1 paint finishing, is characterized in that, is also provided with the range sensor being connected with described control system on described rotor craft; Described control system detects the distance of the outer facade of described rotor craft and described skyscraper in real time by this range sensor, and control in real time this rotor craft and the described skyscraper distance of facade outward by described flight control panel, itself and setpoint distance moment are consistent.
4. high-altitude as claimed in claim 1 paint finishing, is characterized in that, is also provided with the flight environment of vehicle detecting unit being connected with described control system on described rotor craft; Described control system is by the flight environment of vehicle of rotor craft described in described flight environment of vehicle detecting unit Real-Time Monitoring, and is not suitable for when this rotor craft continues flight making a return voyage by this rotor craft of described flight control panel control at described flight environment of vehicle.
5. high-altitude as claimed in claim 1 paint finishing, is characterized in that, is provided with a camera being connected with described control system on described rotor craft, for monitoring the spraying process of described shower nozzle, and the picture of shooting is sent it back to described control system.
6. high-altitude as claimed in claim 1 paint finishing, is characterized in that, on institute of institute rotor craft, is provided with the GPS positioner being connected with described control system.
7. high-altitude as claimed in claim 1 paint finishing, is characterized in that, described paint finishing comprises successively and to connect:
Coating filling apparatus, for the coating of annotating;
Supercharging device, is used to described coating supercharging;
Conveyance conduit, is connected with described shower nozzle, for delivery of described coating.
8. high-altitude as claimed in claim 7 paint finishing, is characterized in that, described supercharging device is gas-liquid booster pump.
9. high-altitude as claimed in claim 1 paint finishing, is characterized in that, is also provided with the nozzle switch being connected with described control system on described shower nozzle, for control the break-make of described shower nozzle according to the order of described control system.
10. high-altitude as claimed in claim 1 paint finishing, is characterized in that, is also provided with the shower nozzle direction-control apparatus being connected with described control system on described shower nozzle, for control the direction of described shower nozzle according to the order of described control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320533565.7U CN203620847U (en) | 2013-08-29 | 2013-08-29 | Rotorcraft-based aerial spraying system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320533565.7U CN203620847U (en) | 2013-08-29 | 2013-08-29 | Rotorcraft-based aerial spraying system |
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| CN203620847U true CN203620847U (en) | 2014-06-04 |
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| CN201320533565.7U Expired - Fee Related CN203620847U (en) | 2013-08-29 | 2013-08-29 | Rotorcraft-based aerial spraying system |
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Cited By (15)
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| CN105772338A (en) * | 2015-12-27 | 2016-07-20 | 上海孩子国科教设备有限公司 | Flying type coating system and implementation method thereof |
| CN106184759A (en) * | 2016-08-05 | 2016-12-07 | 广东银洋环保新材料有限公司 | A kind of external wall spraying print system based on unmanned plane and spraying method thereof |
| CN106510565A (en) * | 2016-11-08 | 2017-03-22 | 苏州大学 | Air automatic scrubbing device, cleaning group, and suitable wall surface |
| CN106809392A (en) * | 2017-03-10 | 2017-06-09 | 佛山市神风航空科技有限公司 | A kind of unmanned plane wall is drawn a picture equipment |
| CN107130776A (en) * | 2016-02-26 | 2017-09-05 | 陶祥臣 | The loom of a color steel room top brush paint |
| CN107260078A (en) * | 2014-09-03 | 2017-10-20 | 深圳市大疆创新科技有限公司 | The method of UAV and its cleaning wall, the wall cleaning systems using the UAV |
| CN107348917A (en) * | 2014-09-03 | 2017-11-17 | 深圳市大疆创新科技有限公司 | The method of UAV and its cleaning wall, the wall cleaning systems using the UAV |
| CN107380449A (en) * | 2017-08-29 | 2017-11-24 | 佟天琦 | A kind of shipbuilding steel plate unmanned plane spray robot system |
| CN109263400A (en) * | 2018-10-29 | 2019-01-25 | 王骞宇 | A kind of spraying mothers and sons robot |
| CN110162083A (en) * | 2018-02-12 | 2019-08-23 | 维布络有限公司 | The method and system of three-dimensional structure inspection and maintenance task is executed using unmanned plane |
| CN111054556A (en) * | 2019-12-30 | 2020-04-24 | 武昌船舶重工集团有限公司 | Paint spraying and coating device for closed cabin |
| CN111236587A (en) * | 2020-02-04 | 2020-06-05 | 胡瑞昊 | Wall surface spray painting cleaning method and special equipment |
| CN111287411A (en) * | 2020-03-03 | 2020-06-16 | 西南交通大学 | Aerial spraying system based on unmanned aerial vehicle flight platform |
| CN111670143A (en) * | 2018-02-15 | 2020-09-15 | 瓦格纳喷涂技术有限公司 | Aerial fluid spraying system |
| CN112141340A (en) * | 2020-09-29 | 2020-12-29 | 温州大学瓯江学院 | Building facade patching device based on unmanned aerial vehicle technique |
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- 2013-08-29 CN CN201320533565.7U patent/CN203620847U/en not_active Expired - Fee Related
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| US11208209B2 (en) | 2014-09-03 | 2021-12-28 | SZ DJI Technology Co., Ltd. | UAV, method and system for cleaning a wall body |
| CN107260078A (en) * | 2014-09-03 | 2017-10-20 | 深圳市大疆创新科技有限公司 | The method of UAV and its cleaning wall, the wall cleaning systems using the UAV |
| CN107348917A (en) * | 2014-09-03 | 2017-11-17 | 深圳市大疆创新科技有限公司 | The method of UAV and its cleaning wall, the wall cleaning systems using the UAV |
| CN107348917B (en) * | 2014-09-03 | 2021-04-30 | 深圳市大疆创新科技有限公司 | Unmanned aerial vehicle, wall cleaning method thereof and wall cleaning system adopting unmanned aerial vehicle |
| US10518881B2 (en) | 2014-09-03 | 2019-12-31 | SZ DJI Technology Co., Ltd. | UAV, method and system for cleaning a wall body |
| CN105772338A (en) * | 2015-12-27 | 2016-07-20 | 上海孩子国科教设备有限公司 | Flying type coating system and implementation method thereof |
| CN107130776A (en) * | 2016-02-26 | 2017-09-05 | 陶祥臣 | The loom of a color steel room top brush paint |
| CN106184759A (en) * | 2016-08-05 | 2016-12-07 | 广东银洋环保新材料有限公司 | A kind of external wall spraying print system based on unmanned plane and spraying method thereof |
| CN106184759B (en) * | 2016-08-05 | 2018-10-02 | 广东银洋环保新材料有限公司 | A kind of external wall spraying print system and its spraying method based on unmanned plane |
| US11014665B2 (en) | 2016-08-05 | 2021-05-25 | Guangdong Yinyang Environment-Friendly New Materials Co., Ltd. | Unmanned aerial vehicle-based external wall spray printing system and spraying method thereof |
| CN106510565A (en) * | 2016-11-08 | 2017-03-22 | 苏州大学 | Air automatic scrubbing device, cleaning group, and suitable wall surface |
| CN106809392A (en) * | 2017-03-10 | 2017-06-09 | 佛山市神风航空科技有限公司 | A kind of unmanned plane wall is drawn a picture equipment |
| CN107380449A (en) * | 2017-08-29 | 2017-11-24 | 佟天琦 | A kind of shipbuilding steel plate unmanned plane spray robot system |
| CN110162083A (en) * | 2018-02-12 | 2019-08-23 | 维布络有限公司 | The method and system of three-dimensional structure inspection and maintenance task is executed using unmanned plane |
| CN111670143A (en) * | 2018-02-15 | 2020-09-15 | 瓦格纳喷涂技术有限公司 | Aerial fluid spraying system |
| CN111670143B (en) * | 2018-02-15 | 2024-02-02 | 瓦格纳喷涂技术有限公司 | Aerial fluid spray system |
| CN109263400A (en) * | 2018-10-29 | 2019-01-25 | 王骞宇 | A kind of spraying mothers and sons robot |
| CN111054556A (en) * | 2019-12-30 | 2020-04-24 | 武昌船舶重工集团有限公司 | Paint spraying and coating device for closed cabin |
| CN111236587A (en) * | 2020-02-04 | 2020-06-05 | 胡瑞昊 | Wall surface spray painting cleaning method and special equipment |
| CN111287411A (en) * | 2020-03-03 | 2020-06-16 | 西南交通大学 | Aerial spraying system based on unmanned aerial vehicle flight platform |
| CN112141340A (en) * | 2020-09-29 | 2020-12-29 | 温州大学瓯江学院 | Building facade patching device based on unmanned aerial vehicle technique |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20171113 Address after: Luohu District Shenzhen Shennan Road 518000 No. 5016 Guangdong Kingkey 100 building D Jinlong Building Room 905 Patentee after: SHENZHEN FRESHNESS INTELLIGENT TECHNOLOGY CO.,LTD. Address before: 518000 Nanhai Road, Guangdong, Shenzhen, No. 3688, No. Patentee before: Cheng Tao |
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| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140604 Termination date: 20210829 |
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| CF01 | Termination of patent right due to non-payment of annual fee |