WO2020021305A1 - A spraying arrangement on the basis of an unmanned aerial vehicle - Google Patents
A spraying arrangement on the basis of an unmanned aerial vehicle Download PDFInfo
- Publication number
- WO2020021305A1 WO2020021305A1 PCT/IB2018/055486 IB2018055486W WO2020021305A1 WO 2020021305 A1 WO2020021305 A1 WO 2020021305A1 IB 2018055486 W IB2018055486 W IB 2018055486W WO 2020021305 A1 WO2020021305 A1 WO 2020021305A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- drone
- frame
- arms
- hose
- spraying
- Prior art date
Links
- 238000005507 spraying Methods 0.000 title claims abstract description 37
- 239000000126 substance Substances 0.000 claims abstract description 15
- 239000007788 liquid Substances 0.000 claims abstract description 14
- 239000002245 particle Substances 0.000 claims abstract description 8
- 239000007787 solid Substances 0.000 claims abstract description 8
- 238000006073 displacement reaction Methods 0.000 claims abstract description 7
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 238000010422 painting Methods 0.000 description 5
- 239000003973 paint Substances 0.000 description 4
- 230000001788 irregular Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 2
- 239000004760 aramid Substances 0.000 description 1
- 229920006231 aramid fiber Polymers 0.000 description 1
- 229920003235 aromatic polyamide Polymers 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 239000003599 detergent Substances 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 229920002994 synthetic fiber Polymers 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Classifications
-
- 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
Abstract
The invention relates to electric drones, which can be used for spraying fine solid particles or liquid droplets to even and non-even surfaces. The invention provides for the spraying arrangement, comprising: a multi-rotor electric drone (1), having at least one frame (2), with a plurality of propeller drives (3) attached to the frame (2), each propeller drive (3) comprising a propeller (4) attached to an electric motor (5); the multi-rotor electric drone (1) further provided with a set of cables (6); one or more spraying means (8) comprising a hose (9) with at least one nozzle (10) adapted for spraying fine solid particles or liquid droplets; wherein one end of the hose (9) is connected with the nozzle or nozzles (10) and the other end – with supply of sprayable substances, wherein the arrangement is further provided with one or more extension arms (7) rotatably connected to the drone (1); the extension arms (7) having one or more joints, allowing rotational motion or translational displacement; wherein the extension arm or arms (7) are provided with the spraying means (8). The drone frame (2) and/or the extension arm or arms (7) are further provided with at least one supporting means (11) adapted to allow safely lean the flying drone (1) against the surface to be processed by the sprayable substance, as well as to ensure sliding or moving of the drone (1) along said surface.
Description
A spraying arrangement on the basis of an unmanned aerial vehicle
Technical Field
The invention relates to electric drones, which can be used for spraying fine solid particles or liquid droplets to even and non-even surfaces.
B acker ound Art
The unmanned aerial vehicles, in particular, multicopters may be used for controllable spraying liquids to even or non-even surfaces. Especially effectively such multicopters may be used for painting surfaces, which are hard to reach, for instance, surfaces located at a high altitude or having irregular configuration.
The problem to be solved for the multicopters, which are used for spraying liquids to even and, especially non-even surfaces is how to ensure safe and efficient surface treating, while keeping more or less constant distance from the spraying nozzle and surface to be treated. Efficient surface treating means both efficient in time and resources, including energy and spraying liquid consumption.
There are known unmanned aerial vehicle painting systems (CA 2917784, KR 20170101649, US 9776200), which can be used for painting interior and exterior surfaces of structures, such as buildings, ships and bridges. The known multicopter painting systems usually contain a multicopter provided with camera, a paint spraying device and a remote drone control device adapted to control flight and a position of the multicopter and operation of the paint spraying device. Some embodiments of the known multicopter painting systems contain a paint delivery subsystem, which comprises a paint supply line, a boom, at least one bumper, a pump, and a nozzle. The bumper is disposed at a distal end of the boom such that it extends radially outward beyond nozzle. The bumper preferably has a curved shape. The boom and the bumper according to the known solutions prevent rotors of the multicopter from approaching too closely to a surface to be painted as well as
prevents nozzle from being damaged if bumper contacts the surface to be painted during flight.
Although the prior art solutions partially solve the problem of efficient surface treating, their efficiency is still insufficient.
Summary of Invention
The invention provides a spraying arrangement on the basis of an unmanned aerial vehicle adapted for spraying substances (fine solid particles or liquid droplets) to even or non-even surfaces, in particular, surfaces having irregular, convex, concave or plain shape.
The spraying arrangement, comprising: a multi-rotor electric drone, having at least one frame, with a plurality of propeller drives attached to the frame, each propeller drive comprising a propeller attached to an electric motor; the multi-rotor electric drone further provided with an electric cable connecting the electrical components of the drone with the power supply; one or more spraying means comprising a hose with at least one nozzle adapted for spraying fine solid particles or liquid droplets; wherein one end of the hose is connected with the nozzle or nozzles and the other end - with supply of sprayable substances, wherein the arrangement is further provided with one or more extension arms rotatably connected to the drone; the extension arms having one or more joints, allowing rotational motion or translational displacement; wherein the extension arm or arms are provided with the spraying means (optionally also the drone frame is provided with the spraying means); the extension arm or arms are further provided with extension arm control mechanism, allowing to control rotational motion or translational displacement of the extension arms in respect of the drone frame. According to the preferred embodiment the drone frame as well as the extension arm or arms are further provided with at least one supporting means adapted to allow safely lean the flying drone against the surface to be processed by the sprayable substance, as well as to
ensure sliding or moving of the drone along said surface. According to yet another embodiment the drone frame is also provided with a guide and holding means adapted for holding the set of cables and the hose and to support controllable movement of the set of cables and the hose during flight of the drone; the holding means are adapted for moving the point of fixation of the set of cables and the hose along the guide towards or away from the extension arms, thereby outweighing the extension arm and balancing the drone. According to yet another embodiment the propeller drives, which are attached to the two opposite peripheral parts of the drone frame, are adapted to be controllably rotated along the frame, thereby allowing changing direction of the propeller drive axis and the plane of rotation of the propeller.
Brief Description of Drawings
Fig. 1 shows a perspective view of the arrangement with aligned in one-line extension arms;
Fig. 2 - a perspective view of the arrangement with extension arms located parallel each other;
Fig. 3 - a schematic view of the flying arrangement, spraying de-icing substance on both sides of the wind turbine blade.
Detailed Description of Invention
The arrangement (Fig. 1-2) comprising: a multi-rotor electric drone 1, having at least one frame 2, with a plurality of propeller drives 3 attached to the frame 2, each propeller drive 3 comprising a propeller 4 attached to an electric motor 5; the multi-rotor electric drone 1 further provided with a set of cables 6, preferably comprising an electric cable, adapted to supply power to electrical elements of the arrangement; a optical fiber cable, adapted for transmitting optical signals to the respective elements of the arrangement; and aramid (synthetic) fiber cable adapted for bearing mechanical stress of the rest cables of the set 6.
According to the preferred embodiment, the propeller drives 3', which are attached to the two opposite peripheral parts of the drone frame 2, are adapted to be controllably rotated along the frame 2, thereby allowing changing direction of the propeller drive 3' axis and the plane of rotation of the propeller 4' from vertical to horizontal and back again. This allows to ensure drone’s 1 flight in horizontal plane (forward, backwards, or drone rotation about its vertical imaginary axis), while keeping drone 1 substantially parallel to the horizon line.
Said arrangement further comprises one or more extension arms 7 rotatably connected to the drone 1 frame 2. The extension arms 7 may have one and more joints, preferably two to four, allowing rotational motion or translational displacement. The extension arm or arms 7 are provided with a spraying means 8. The spraying means 8 comprising a hose 9 with at least one nozzle 10 adapted for spraying fine solid particles or liquid droplets (for instance, water, cleansing agent, abrasive, de-icing agent). The hose 9 is preferably a high-pressure hose. The hose 9 is connected with the nozzle or nozzles 10 as well as with supply of sprayable substances (e.g. tank with a compressor). According to one embodiment, at frontal part of the drone frame 2, the hose 9 is connected to the nozzles 10 by means of the hose 9 splitter and the corresponding number of hose extensions.
According to another embodiment the drone frame 2 is also provided with at least one nozzle 10 connected with supply of sprayable substances by means of the hose 9. The extension arm or arms 7 are further provided with extension arm control mechanism, allowing to control rotational motion or translational displacement of the extension arms 7 in respect of the drone frame 2.
According to the preferred embodiment the extension arms’ 7 joints are remotely controlled by linear servos with wire-rope connections and sleeve, wherein the actual servos are located in the back side of the drone frame 2 to balance the weight of the whole arrangement.
The multi-rotor electric drone frame 2 and/or the extension arm or arms 7 are further provided with at least one supporting means 11 allowing to safely lean the flying drone 1 against the surface to be processed by the sprayable substance, as well as to ensure sliding or moving of the drone 1 along said surface, thereby ensuring constant distance between the spraying nozzles 10 and the surface to be processed. The supporting means 11 may be rollers and/or wheels, however other embodiments are also possible. Fig. 1-3 show embodiment, where both the drone frame 2 and the extension arms 7 are provided with a number supporting means 11.
The drone frame 2 is also provided with a guide 12 (such as a rail) and holding means 13 adapted for holding the set of cables 6 and the hose 9. The holding means 13 are adapted for moving the point of fixation of the set of cables 6 and the hose 9 along the guide 12 towards or away from the extension arms 7, thereby balancing the drone 1. According to the preferred embodiment the aramid fiber cable of the set of cables 6 is also fixed substantially at the center of the drone frame 2 for additional safety in case the fixing point at the holding means 13 will get loose.
The higher the drone 1 raises one end of the cables 6 and the hose 9, the longer cable 6 and the hose 9 become and thus the heavier the raised weight becomes. This impacts the balance of the drone 1. To avoid disbalance, the holding means 13 is moved along the guide 12 closer to the center of gravity of the drone 1. The holding means 13 may be in the form of a pulley on a roller guidance system adapted to move along the guide 12. However, the pulley is preferably designed so that it prevents the set of cables 6 and the hose 9 from sliding through the pulley 13. The pulley 13 is used only to ensure minimum allowable bend radius of the cable 6 and the hose 9.
The extension arms 7 are designed to be controllably moved. Depending on the configuration of the surface an operator or a software may provide a command to
align the extension arms 7 in one line, thus maximizing the area of the flat surface, which may be processed by the sprayable liquid. In case of irregular configuration of the surface, the direction of the extension arms 7 may be amended as necessary. For instance, in case of processing the surface of the wind turbine blades, the extension arms 7 can be aligned mutually parallel, so that the sprayable liquid is simultaneously applied to both sides of a wind turbine blade.
The arrangement is further provided with at least one control unit, which is operable to provide a user interface to operation of the multi-rotor electric drone 1, the spraying means 8, the extension arms 7 and the holding means 13.
The supply of sprayable substance to the spraying means 8 and power supply to the multi-rotor electric drone 1 is provided from the ground, platform, or the like, in other words - from the fixed in respect to the Earth coordinate system. The supply of the sprayable substance from the ground allows to save time in operations relating to landings and takeoffs, refilling the reservoir, as well as make the drone 1 lighter. The supply of the power from the ground allows to exclude battery-related limitations of the drone operation. According to one embodiment the extension arms 7 are located in front of the drone
1 (Fig. 1-3). It is important to keep weight balance in the center so all drone propeller drives 3 are equally loaded. Therefore, a servo-belt controlled rail 12 with the holding means 13 is attached below the drone frame 2, so that the holding means 13 adapted to be controllably moved along the rail 12, can be moved towards the back of the drone 1 and in opposite direction. The servo is connected to a belt and the belt is connected to the holding means 13. This way the weight of the set of cables 6 and the hose 9 can counterbalance the weight of the extension arms 7.
A software control algorithm is implemented that constantly monitors drone 1 motor load, altitude, extension arm position and adjusts servo-belt holding means 13 closer or further from the center of the drone 1 to keep drone weight balance. The arrangement operates as follows. Generator and compressor is started to provide electricity and spraying liquid for the multi-rotor electric drone 1. The drone 1 takes off and flies towards the surface that it needs to process by spraying fine solid particles or liquid droplets. The position of the holding means 13 is adjusted automatically to keep center of gravity for the drone 1 closer to the center of the arrangement. The extension arms 7 are aligned according to configuration of the surface. The drone 1 is positioned substantially perpendicular to the plane of the surface to be processed and moved towards it until the supporting means 11 slightly touch it. Fig. 3 shows location of the drone 1 in front of the wind turbine blade and arrangement of the extensions arms 7 parallel each other on both sides of the wind turbine blade. Spraying of the spraying substance through the nozzles 10 is started. Slight pressure is maintained towards the surface at all time during spraying operation. The drone 1 is moved up and down as needed. To move sideways the drone 1 can either be backed off from the surface or the extension arms 7 can be rotated vertically and moved sideways while keeping contact with the surface. When operation is finished the drone 1 is backed off from the surface and descended.
Claims
1. A spraying arrangement, comprising: a multi-rotor electric drone (1), having at least one frame (2), with a plurality of propeller drives (3) attached to the frame (2), each propeller drive (3) comprising a propeller (4) attached to an electric motor (5); the multi-rotor electric drone (1) further provided with a set of cables (6); one or more spraying means (8) comprising a hose (9) with at least one nozzle (10) adapted for spraying fine solid particles or liquid droplets; wherein one end of the hose (9) is connected with the nozzle or nozzles (10) and the other end - with supply of sprayable substances, wherein the arrangement is further provided with one or more extension arms (7) rotatably connected to the drone (1); the extension arms (7) having one or more joints, allowing rotational motion or translational displacement; wherein the extension arm or arms (7) are provided with the spraying means (8); the extension arm or arms (7) are further provided with extension arm control mechanism, allowing to control rotational motion or translational displacement of the extension arms (7) in respect of the drone frame (2) .
2. The arrangement according to claim 1, wherein the drone frame (2) and/or the extension arm or arms (7) are further provided with at least one supporting means (11) adapted to allow safely lean the flying drone (1) against the surface to be processed by the sprayable substance, as well as to ensure sliding or moving of the drone (1) along said surface.
3. The arrangement according to claim 2, wherein the supporting means (11) are rollers, or wheels or a combination of rollers and wheels.
4. The arrangement according to any proceeding claims, wherein the drone frame (2) is also provided with a guide (12) and holding means (13) adapted for holding the set of cables (6) and the hose (9) and for moving the fixing point of the set of
cables (6) and the hose (9) along the guide (12) towards or away from the extension arms (7), thereby balancing the drone (1).
5. The arrangement according to claim 4, wherein the holding means (13) are in the form of a pulley on a roller guidance system adapted to move along the guide (12), wherein the pulley is designed so that it prevents the set of cables (6) and the hose (9) from sliding through the pulley.
6. The arrangement according to any proceeding claims, wherein the drone frame (2) is also provided with at least one nozzle (10) connected with supply of sprayable substances by means of the hose (9).
7. The arrangement according to any proceeding claims, wherein the extension arms’ (7) joints are designed to be remotely controlled by linear servos with wire-rope connections and sleeve, wherein the servos are located on the drone frame (2).
8. The arrangement according to any proceeding claims, wherein the propeller drives (3'), which are attached to the two opposite peripheral parts of the drone frame (2), are adapted to be controllably rotated along the frame (2), thereby allowing changing direction of the propeller drive (3') axis and the plane of rotation of the propeller (4') from vertical to horizontal and back again.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/IB2018/055486 WO2020021305A1 (en) | 2018-07-24 | 2018-07-24 | A spraying arrangement on the basis of an unmanned aerial vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/IB2018/055486 WO2020021305A1 (en) | 2018-07-24 | 2018-07-24 | A spraying arrangement on the basis of an unmanned aerial vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2020021305A1 true WO2020021305A1 (en) | 2020-01-30 |
Family
ID=63312205
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/IB2018/055486 WO2020021305A1 (en) | 2018-07-24 | 2018-07-24 | A spraying arrangement on the basis of an unmanned aerial vehicle |
Country Status (1)
| Country | Link |
|---|---|
| WO (1) | WO2020021305A1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111280153A (en) * | 2020-03-16 | 2020-06-16 | 贵州省园艺研究所(贵州省园艺工程技术研究中心) | Water-spraying irrigation device for planting cabbage mustard |
| KR102199685B1 (en) * | 2020-08-27 | 2021-01-08 | 이형진 | unmanned aerial vehicle (UAV) AND METHOD FOR CONTROLLING THE SAME |
| KR102212370B1 (en) * | 2020-12-31 | 2021-02-04 | 이형진 | Control method of unmanned aerial vehicle and accessory equipment to be used for high-altitude dangerous work |
| KR102352101B1 (en) * | 2020-11-25 | 2022-01-14 | 이형진 | unmanned aerial vehicle (UAV) performing facility monitoring and maintenance |
| FR3125017A1 (en) | 2021-07-09 | 2023-01-13 | Fly Renov | Wired drone for the treatment of a surface of a building by a treatment fluid. |
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| KR101818195B1 (en) * | 2016-07-19 | 2018-01-12 | 김종율 | A Drone and A Drone Flight Object For Cleansing Comprising the Drone |
| US20180118341A1 (en) * | 2016-11-01 | 2018-05-03 | National Changhua University Of Education | Unmanned flying spray system |
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| US3381922A (en) * | 1961-01-18 | 1968-05-07 | Laing Nikolaus | Captive helicopter |
| US20170209885A1 (en) * | 2014-04-24 | 2017-07-27 | Roi Neustadt | Hovering device for drawing on walls |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111280153A (en) * | 2020-03-16 | 2020-06-16 | 贵州省园艺研究所(贵州省园艺工程技术研究中心) | Water-spraying irrigation device for planting cabbage mustard |
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| FR3125017A1 (en) | 2021-07-09 | 2023-01-13 | Fly Renov | Wired drone for the treatment of a surface of a building by a treatment fluid. |
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