KR20170101649A - Drone Apparatus for High Buliding Painting Work and Method for Controlling the Same - Google Patents

Drone Apparatus for High Buliding Painting Work and Method for Controlling the Same Download PDF

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Publication number
KR20170101649A
KR20170101649A KR1020160024476A KR20160024476A KR20170101649A KR 20170101649 A KR20170101649 A KR 20170101649A KR 1020160024476 A KR1020160024476 A KR 1020160024476A KR 20160024476 A KR20160024476 A KR 20160024476A KR 20170101649 A KR20170101649 A KR 20170101649A
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KR
South Korea
Prior art keywords
paint
drone
spraying
drones
unit
Prior art date
Application number
KR1020160024476A
Other languages
Korean (ko)
Inventor
김태우
이건상
김승원
김은성
이상혁
Original Assignee
국민대학교산학협력단
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 국민대학교산학협력단 filed Critical 국민대학교산학협력단
Priority to KR1020160024476A priority Critical patent/KR20170101649A/en
Publication of KR20170101649A publication Critical patent/KR20170101649A/en

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    • 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
    • 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
    • B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
    • B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
    • B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
    • B05B9/00—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour
    • B05B9/03—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material
    • B05B9/04—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump
    • B05B9/0403—Spraying apparatus for discharge of liquids or other fluent material, without essentially mixing with gas or vapour characterised by means for supplying liquid or other fluent material with pressurised or compressible container; with pump with pumps for liquids or other fluent material
    • 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
    • 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
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for
    • 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
    • B64C2201/126—
    • B64C2201/127—
    • B64C2201/145—
    • B64C2201/146—

Abstract

The present invention relates to a drone apparatus for high building painting work and a method for controlling the same, wherein with a drone having a paint spray device, painting work can be freely performed in a high place that a worker hardly reaches. The drone apparatus comprises: a drone device placed in a paint spray area of a building wall to photograph the paint spray area, and spraying paint to the building wall by controlling a spray angle and a spray amount of a spray device; and a remote drone control device controlling flight and a position of the drone device in a remote plate, and controlling operation of the spray device.

Description

Technical Field [0001] The present invention relates to a drone apparatus for performing a high-school painting operation and a control method thereof,

The present invention relates to a drone apparatus, and more particularly, to a drone apparatus and a control method thereof that perform a high-level painting operation that can safely perform a paint operation at a high level, which is difficult to access using a drone equipped with a paint injection apparatus .

Generally, the painting of the high building is done by the work car or manpower input.

For example, a high-altitude work car used in a shipyard.

As shown in FIG. 1A, in the prior art, a high-altitude work car was used in a shipyard or the like, and a person was directly climbed to a high place to work and risked exposure to paint for a long time.

Due to the nature of the high-altitude working vehicle, the width of the vehicle is large and the range of motion is required. Actually, it is happening to happen in a high place.

In addition, as shown in FIG. 1B, a painting operation for painting a wall surface of a high-rise building is not only dangerous because a worker moves to a work space while holding a paint roller or a sprayer at a work chair connected to a work rope, Extra paint portability, and difficulty in the work due to long time manual work, and due to the peculiarity of the work environment, only skilled workers have to do the painting work, which causes expensive labor costs.

This problem is becoming more and more difficult due to the tendency of buildings to become taller.

Therefore, development of a new technique for enhancing the safety and efficiency of the painting operation is required.

Korean Patent Publication No. 10-2012-0003419 Korean Patent Publication No. 10-2010-0012421

The present invention is to solve the problem of the conventional painting method of the prior art, and it is an object of the present invention to provide a drones for performing a high-level painting operation which can safely perform a paint operation on a high- And a control method thereof.

An object of the present invention is to provide a drones apparatus and a control method thereof that can perform a high-level painting operation that minimizes a spatial problem and a manpower accident by using a dron apparatus when a paint operation is required in a high access area.

The present invention relates to a drone device which performs a painting operation without injecting a person directly into a work area because of spray paint by a dron device, and performs a high-level painting operation which can be easily applied to a high-rise building because of its excellent mobility And to provide a control method thereof.

The present invention provides a drone apparatus and a control method thereof for performing a high-level painting operation of transferring a text or a picture such as an advertisement phrase programmed on an outer wall of a building by injection by a drone apparatus having three injection apparatuses of RGB .

The present invention provides a drones device and a control method thereof for performing a high-level painting operation in which accurate paint application is possible by measuring the degree of paint application on a paint spray area by using an image or an ultrasonic sensor and confirming the thickness thereof .

The objects of the present invention are not limited to the above-mentioned objects, and other objects not mentioned can be clearly understood by those skilled in the art from the following description.

According to an aspect of the present invention, there is provided a drone device for performing a high-level painting operation, the drone device being located in a paint spraying area on a building wall to photograph a paint spraying area and controlling an injection angle and an injection quantity of the spraying device, And a remote drone control device that performs flight control and position control of the drone device at a remote location and controls driving of the spray device.

Here, the spraying apparatus may spray paint supplied through a paint supply line connecting the paint supply unit located on the ground and the spray apparatus of the drone apparatus, or spray paint supplied from a paint supply unit mounted on the drone apparatus itself do.

In the case of spraying the paint supplied through the paint supply line, the supply of the paint is effected by suction pumping by the pumping device constituted in the injection device of the drone device, or by injection pumping by the pumping device constituted by the paint supply part .

The paint supply line is constituted of one nozzle for supplying one kind of paint of a desired color or three paint supply lines of RGB for realizing color so as to be connected to each of the three nozzles .

When the three paint supply lines for RGB are provided and connected to each of the three injection devices, characters or pictures programmed in the remote drone control device are transferred.

And an auxiliary propeller for supporting the pressure of the paint discharged from the spray nozzle is provided in a rear region corresponding to the position of the spray nozzle of the spray apparatus constituted in the drone apparatus, And the driving strength and direction are adjusted.

The drones have a spraying device for spraying paint and a paint supply line connection part to which a paint supply line is connected. The drones are provided with a flying structure of the drones, a mechanism part for mounting driving power, A spraying device driving control unit for controlling the spraying angle and the spraying amount of the spraying device to spray paint on the wall of the building, and a control unit for controlling the fixed flight in the flying and spraying areas to the destination through the checking and setting of the flying path And a drone driving and position control unit for performing the drone driving and position control.

The drones include an image data processing unit for processing the image data of the paint spraying area photographed by the image photographing unit so as to be able to transmit and store the image data, a GPS receiving the position information for flight to the destination through the flight path confirmation and setting, And a communication unit for receiving the image data, the injection device driving control signal, the drone driving and the position control signal.

The remote drone control device includes a communication unit that receives the image data of the ejection region photographed from the drone device and transmits the ejection device drive control signal, the drone drive, and the position control signal; A dronon drive control signal input unit for controlling the fixed flight in the flight and injection area to the destination of the drones, and an injection device control unit for controlling the injection device at the time of paint spraying And a signal input unit.

The remote drone control device includes a building information storage unit for storing building information for flying to a destination of the drones and confirming the building at the time of spraying paint, and a control unit for controlling the fixed flight in the flight and injection areas to the destination of the drones And a flight path confirmation and setting unit for the flight path.

The remote drone control device receives the image data of the spray area photographed from the drone device and confirms the degree of paint application of the paint spray area in the image or implements the ultrasonic sensor module in the drone device to calculate the paint application thickness .

A method of controlling a drone device for performing a high-level painting operation according to the present invention for achieving another object comprises the steps of: comparing a building information received at a destination with a building information through a flight path confirmation and setting; The method comprising the steps of: capturing an area and transmitting photographed image data to a remote drone control device, checking a received image in the remote drone control device and controlling driving of the paint spraying device of the drone device to start paint spraying, Controlling the injection angle and the injection amount of the spraying device while checking the image of the paint spraying area received by the remote drone control device, capturing the captured image data at the image capturing part of the device, and transmitting the captured image data to the remote drone control device; And a control unit.

The drones and their control methods for performing the high-level painting operation according to the present invention have the following effects.

First, it is possible to safely perform the paint work in a high place where access is difficult by using the dron equipped with the paint spraying device.

Secondly, when the paint work is needed in a place where access is difficult, the drone device can minimize the spatial problem and the manpower accident, and protect the health of workers.

Third, since the spray painting is performed by the drones, the painting operation can be performed without putting the person directly in the working area, and the mobility can be easily applied to the skyscraper building.

Fourth, it is possible to effectively transfer letters or pictures such as advertisement texts and the like programmed on the outer wall of the building by the injection by the drones having three injection devices of RGB.

Fifth, accurate paint application is possible by measuring the degree of paint application in the paint spraying area by measuring the thickness using an image or ultrasonic sensor.

Figs. 1A and 1B are diagrams showing the state of the art painting of the prior art
2 is a schematic diagram of a high-school painting operation using the drones according to the present invention
3 is a block diagram of a drone apparatus for performing a high-school painting operation according to the present invention
4 is a detailed configuration diagram of the remote drone control device
5 is a flowchart showing a control method of a drones device for performing a high-school painting operation according to the present invention

Hereinafter, a preferred embodiment of a drone apparatus and a control method thereof for performing a high-school painting operation according to the present invention will be described in detail.

The features and advantages of the drone device and its control method for carrying out the high-level painting operation according to the present invention will be apparent from the following detailed description of each embodiment.

FIG. 2 is a block diagram of a high-school painting operation using the drone device according to the present invention, and FIG. 3 is a block diagram of a drone device performing a high-school painting operation according to the present invention.

The present invention can safely perform a paint operation in a high place which is difficult to access by using a dron equipped with a paint spraying device, so that it is possible to minimize a spatial problem and a manpower accident.

Particularly, since the spray painting is performed by the drones, the painting operation can be performed without directly inputting the work area, and the mobility can be easily applied to the skyscraper building.

In addition, in order to realize colors, a letter or a picture such as an advertisement text program or the like programmed on an outer wall of a building can be effectively transferred by a dron device having three injection devices of RGB.

2, the drones for performing the high-definition painting operation are located in the paint spray area of the building wall 100 to photograph the paint spray area and control the spray angle and the spray amount of the spray device 201 A dronon device 200 for spraying paint on the building wall 100 and a remote drone control device for remote control of the flight and position control of the dronon device 200 and for controlling the driving of the spray device 201 .

The spraying apparatus 201 injects paint supplied through a paint supply line 203 connecting the paint supply unit 202 located on the ground and the spraying apparatus 201 of the drones 200 to supply paint.

The supply of paint may be accomplished by suction pumping by a pumping device configured in the spraying device 201 of the drone device 200 and by injection pumping by a pumping device configured in the paint supply 202 .

The paint supply line 203 may be configured to supply one kind of paint of a desired color, or may be connected to each of the three injection devices by providing three paint supply lines of RGB so as to realize colors.

Further, the drones 200 may be provided with three injection devices, and the drones themselves may be equipped with paint supply units.

The drones 200 further include a supply line supporting apparatus for supporting the paint supply line 203 and are provided with a spray nozzle 201 for spraying droplets onto the rear region corresponding to the position of the spray nozzles of the spray apparatus 201 constituting the drones 200, An auxiliary propeller for supporting the pressure of the paint discharged from the nozzle may be provided.

This auxiliary propeller can be adjusted in driving strength and direction as the jetting direction of the jetting nozzle changes.

The detailed configuration of the drone device for performing the high-school painting operation according to the present invention is as follows.

As shown in FIG. 3, the nozzle unit 30 includes a spray device 30a for spraying paint and a paint supply line connecting part 30b to which a paint supply line is connected. The device 30 includes a flying structure of the drones, An image data processing section 32 for processing the image data of the paint spraying region photographed by the image photographing section 31 so as to be able to transmit and store the image data, A GPS receiver 33 for receiving position information for flight to a destination through the setting, an injector drive control unit 34 for controlling spraying of the paint on the wall of the building by controlling the injection angle and the injection amount of the injector, A drone driving and position control unit 35 for performing control for flight to the destination and fixed flight in the injection area through the confirmation and setting of the flight path, And a communication unit (36) for receiving a data transmission, injector control signal, the driving drone and the position control signal.

The detailed configuration of the remote control device for controlling the drones according to the present invention is as follows.

4 is a detailed configuration diagram of the remote drone control device.

The remote drone control device according to the present invention includes a communication unit 40 for receiving image data of an ejection area photographed from a drones device, for transmitting an ejection device driving control signal, a drone driving and a position control signal, A drones driving control signal input unit 42 for controlling the fixed flight in the flying and jetting areas to the destination of the drones, A building information storage unit 44 for storing building information for flight confirmation to the destination of the drones and confirmation of buildings at the time of paint spraying, And a flight path confirmation and setting unit 45 for controlling the fixed flight in the jetting area.

The drones for carrying out the high-level painting operation according to the present invention include a method of confirming the degree of paint application in the paint spraying area by receiving image data of the spraying area photographed from the drones and confirming the image with an image, A method of calculating the paint application thickness by mounting an ultrasonic sensor module on the surface of the substrate can be used.

An ultrasonic sensor module mounted on a mechanism part of a drone device includes an ultrasonic transmission / reception part connected to a probe for projecting an ultrasonic wave to a paint application area to be a thickness measurement object, and a control part connected to the ultrasonic transmission / reception part to detect an ultrasonic signal, And a thickness calculating unit for calculating a paint coating thickness by detecting a delay time using a point.

The control method of the drone apparatus for performing the high-school painting operation according to the present invention is as follows.

5 is a flowchart showing a control method of a drone apparatus for performing a high-school painting operation according to the present invention.

The control method of the drone device for performing the high-school painting operation according to the present invention compares the GPS coordinates received from the GPS receiver provided in the drone device with the GPS coordinates of the destination provided from the main server, A step of connecting a paint supply line to an injection device provided in the drone device, and a step of injecting paint into the injection area by an injection device drive control signal, a drone drive and a position control signal from the remote drone control device .

Specifically, as shown in FIG. 5, the destination information is compared with stored building information through flight path confirmation and setting (S501)

Next, the image pickup section of the drones device photographs the area to be painted and transmits the photographed image data to the remote drone control device (S502)

Then, the remote drone control device confirms the received image and controls the driving of the paint spraying device of the drone device to start the paint spraying (S503)

Next, the paint spraying region is photographed by the image capturing unit of the drones, and the photographed image data is transmitted to the remote drone control apparatus (S504)

Then, the injection angle and the injection amount of the injection device are controlled while checking the image of the paint injection area received from the remote drone control device (S505)

Then, when painting of the paint spraying area is completed, the drone driving and position control are performed to move to the next injection area (S506)

The drones and the control method thereof according to the present invention can perform the paint work safely at a high place which is difficult to access by using the drones provided with the paint spraying apparatus, So that the accident can be minimized.

Particularly, since the spray painting is performed by the drones, the painting operation can be performed without directly inputting the work area, and the mobility can be easily applied to the skyscraper building.

As described above, it will be understood that the present invention is implemented in a modified form without departing from the essential characteristics of the present invention.

It is therefore to be understood that the specified embodiments are to be considered in an illustrative rather than a restrictive sense and that the scope of the invention is indicated by the appended claims rather than by the foregoing description and that all such differences falling within the scope of equivalents thereof are intended to be embraced therein It should be interpreted.

100. Building wall 200. Drones
201. Injection device 202. Paint supply section
203. Paint supply line

Claims (12)

A dron device which is located in the paint spraying area on the wall of the building to shoot the paint spraying area and controls spraying angle and spraying amount of the spraying device to spray paint on the wall of the building;
And a remote drone control device for performing flight control and position control of the drone device remotely and controlling driving of the spray device. 2. The apparatus according to claim 1,
Spraying the paint supplied through the paint supply line connecting the paint supply unit located on the ground and the spray apparatus of the drones,
Characterized in that the paint supplied from a paint supply unit mounted on the drones device itself is sprayed. 3. The method according to claim 2, wherein, when spraying the paint supplied through the paint supply line,
Characterized in that the supply of the paint is effected by suction pumping by a pumping device constituted in the injection device of the drone device or by injection pumping by a pumping device constituted by the paint supply part. The ink jet recording head according to claim 1,
And three paint supply lines of RGB are provided to supply one kind of paint of a desired color or to realize colors, and connected to each of the three injection devices. Drones. 5. The apparatus of claim 4, wherein three paint supply lines of RGB are provided and connected to each of the three injection devices,
And transferring a text or a picture programmed to the remote drone control device. An auxiliary propeller for supporting a pressure of paint discharged from an injection nozzle is provided in a rear region corresponding to a position of an injection nozzle of an injection apparatus constituted in a dron device,
Wherein the auxiliary propeller adjusts the driving strength and direction as the injection direction of the injection nozzle changes. The drones according to claim 1,
A spray device for spraying paint and a paint supply line connection part to which a paint supply line is connected, a mechanism part for mounting the flying structure of the dron device, the driving power,
An image capturing unit for capturing a paint jetting area,
A spraying device drive control unit for controlling the spraying angle and spraying amount of the spraying device to spray paint on the building wall surface;
And a drone driving and position control unit for performing control for flying to a destination through the confirmation and setting of the flight path and for fixed flight in the injection area. The drones according to claim 1,
An image data processing unit for processing the image data of the paint spraying region photographed by the image shooting unit so that the image data can be transmitted and stored;
A GPS receiving unit for receiving position information for flight to a destination through a flight path confirmation and setting,
Further comprising a communication unit for receiving the image data, the spraying device driving control signal, the drone driving, and the position control signal. 2. The remote drone control device according to claim 1,
A communication unit for receiving image data of a shooting area photographed from the drone device and transmitting an injection device driving control signal, a drone driving and a position control signal;
An image data verifying unit for receiving and confirming image data of a shooting area photographed from the drones;
A drone drive control signal input unit for controlling the flight to the destination of the drone device and the fixed flight in the injection area,
And a spray device control signal input unit for spray device spray control. 2. The remote drone control device according to claim 1,
A building information storage unit for storing building information for flying to a destination of the drones and confirming buildings at the time of paint spraying,
Further comprising a flight path confirmation and setting unit for controlling the flying of the drones to the destination and the fixed flight in the jetting area. 3. The method of claim 1,
Wherein the remote drone control device receives the image data of the shot area photographed from the drone device and confirms the image as an image or mounts the ultrasonic sensor module on the drone device to calculate the paint application thickness. . Comparing the building information with the stored building information at a destination through a flight path confirmation and setting;
Capturing an area to be painted in an image capturing unit of a drone device and transmitting the captured image data to a remote drone control device;
Checking the image received from the remote drone control device and controlling driving of the paint spraying device of the drone device to start paint spraying;
Photographing the paint spraying region at the image capturing section of the drones device and transmitting the captured image data to the remote drones control device;
And controlling the spraying angle and the spraying amount of the spraying device while checking the image of the paint spraying area received by the remote drone control device.
KR1020160024476A 2016-02-29 2016-02-29 Drone Apparatus for High Buliding Painting Work and Method for Controlling the Same KR20170101649A (en)

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
KR20190118229A (en) * 2018-04-10 2019-10-18 경일대학교산학협력단 Painting drone and painting system using it
WO2020021305A1 (en) 2018-07-24 2020-01-30 Aerones, Sia A spraying arrangement on the basis of an unmanned aerial vehicle
KR102245448B1 (en) * 2019-11-27 2021-04-28 한국해양대학교 산학협력단 Drone device for ship coating
KR102409997B1 (en) * 2021-12-31 2022-06-22 한국전력기술 주식회사 Painting drone system and painting method using the painting drone system
KR20220138922A (en) * 2021-04-06 2022-10-14 대우조선해양 주식회사 Drone system for hull painting robot

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
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
KR20190118229A (en) * 2018-04-10 2019-10-18 경일대학교산학협력단 Painting drone and painting system using it
WO2020021305A1 (en) 2018-07-24 2020-01-30 Aerones, Sia A spraying arrangement on the basis of an unmanned aerial vehicle
KR102245448B1 (en) * 2019-11-27 2021-04-28 한국해양대학교 산학협력단 Drone device for ship coating
KR20220138922A (en) * 2021-04-06 2022-10-14 대우조선해양 주식회사 Drone system for hull painting robot
KR102409997B1 (en) * 2021-12-31 2022-06-22 한국전력기술 주식회사 Painting drone system and painting method using the painting drone system

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