CN106314769A - Unmanned aerial vehicle for large-area exterior wall repairing - Google Patents
Unmanned aerial vehicle for large-area exterior wall repairing Download PDFInfo
- Publication number
- CN106314769A CN106314769A CN201610865174.3A CN201610865174A CN106314769A CN 106314769 A CN106314769 A CN 106314769A CN 201610865174 A CN201610865174 A CN 201610865174A CN 106314769 A CN106314769 A CN 106314769A
- Authority
- CN
- China
- Prior art keywords
- unmanned plane
- exterior wall
- unit
- paint
- radar
- Prior art date
- Legal status (The legal status 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 status listed.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C27/00—Rotorcraft; Rotors peculiar thereto
- B64C27/04—Helicopters
-
- 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
- B64D47/02—Arrangements or adaptations of signal or lighting devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
- B64D47/08—Arrangements of cameras
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/02—Arresting gear; Liquid barriers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04F—FINISHING WORK ON BUILDINGS, e.g. STAIRS, FLOORS
- E04F21/00—Implements for finishing work on buildings
- E04F21/02—Implements for finishing work on buildings for applying plasticised masses to surfaces, e.g. plastering walls
- E04F21/06—Implements for applying plaster, insulating material, or the like
- E04F21/08—Mechanical implements
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/02—Repairing, e.g. filling cracks; Restoring; Altering; Enlarging
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
- B64U2201/202—Remote controls using tethers for connecting to ground station
Abstract
The invention discloses an unmanned aerial vehicle for large-area exterior wall repairing. The unmanned aerial vehicle comprises an unmanned aerial vehicle unit and a ground unit, wherein a working wire cable is formed through binding a signal line, a power line and a water pipe together, and the unmanned aerial vehicle unit and the ground unit are connected through the working wire cable. According to the unmanned aerial vehicle for large-area exterior wall repairing, remote operation can be carried out, and working personnel have no need of climbing to high places to construct, so that an exterior wall repairing construction process can be safe and rapid, and the requirements of construction on specialty are lowered.
Description
Technical field
The present invention relates to unmanned plane field, particularly for the unmanned plane repairing exterior wall.
Background technology
Skin local shedding, fading, it usually needs repair, mending course needs artificial climbing or from top
Suspention is got off, and there is construction risk, and bothersome arduously.
Summary of the invention
The technical problem to be solved is to realize a kind of device that unmanned plane can be utilized to carry out exterior wall amendment.
To achieve these goals, the technical solution used in the present invention is: unmanned plane repaired by large area exterior wall, including unmanned
Machine unit and surface units, holding wire, power line be strapped in water pipe together with constitute work cable, described unmanned plane unit and ground
Connected by work cable between the unit of face；
Unmanned plane unit: be fixed with The Cloud Terrace below rotor wing unmanned aerial vehicle, described The Cloud Terrace is fixed with cleaning nozzle, paint spray nozzle
And hot-air blower, described water pipe is provided with two, and its termination connects cleaning nozzle and paint spray nozzle respectively；
Surface units: include cleaning container, container for paint, power supply, controller, spacing radar and reel, described power supply is even
Connecing power line, described reel for folding and unfolding work cable and is driven by coiling motor, and two described water pipes connect wash pump respectively
And paint pump, the water in described wash pump extraction cleaning container, the coating in described paint pump extraction container for paint, described spacing
Radar is fixed on universal base for the distance between detection and unmanned plane unit, and described spacing radar output distance signal is to control
Device processed, described controller connects holding wire and also outputs control signals to coiling motor, for remote controlled rotary-wing unmanned plane, hot-air blower,
Wash pump, the remote controller of paint pump connect controller.
Described The Cloud Terrace is driven by Universal electric governor motion and rotates, and described power line and holding wire are all connected with Universal electric and adjust
Joint mechanism, described The Cloud Terrace is fixed with the photographic head of level acquisition image information, and exports the picture signal with cross foresight
Identical to the blowing/injection direction of holding wire, described hot-air blower, cleaning nozzle and paint spray nozzle, it is described cross foresight
Position, described remote controller output Universal electric governor motion drives signal to controller.
Described The Cloud Terrace is provided with the barrier radar of detection camera photographing direction obstacle distance information, described barrier
Radar output distance signal is to holding wire.
Described surface units is fixed on dolly, and described dolly has halting mechanism, and described dolly is provided with for parking
Unmanned plane unit park platform, described in park platform and be provided with fixing band or the stationary fixture of fixing unmanned plane unit.
Described reel be provided with for measure work cable release length unreel length measurement unit, described in unreel length
Measuring unit output length signals, to controller, is equipped with water level sensing unit in described cleaning container and container for paint, described
Water level sensing unit output water level signal is to controller, and described controller is furnished with alarm unit and display.
Institute's The Cloud Terrace is provided with the sensing unit receiving spacing radar signal, and described sensing unit connects holding wire.
Control method based on described large area exterior wall repairing unmanned plane:
After unmanned plane startup repaired by large area exterior wall, by remote control device rotor wing unmanned aerial vehicle, Universal electric governor motion, heat
Blower fan, wash pump and paint pump work；
When rotor wing unmanned aerial vehicle takes off, controller is just unreeling motor according to the distance controlling of unmanned plane unit Yu surface units
Turn, overturn or stop, described in unreel motor unreel length distance+safe distance equal to unmanned plane unit and surface units,
Described safe distance increases with the distance of unmanned plane unit with surface units and increases.
Obtain following arbitrary signal when unmanned plane work repaired by large area exterior wall, then carry out reporting to the police and give to carry accordingly
Show；
1) when wash pump works, the water level numerical value that the water level sensing unit in cleaning container obtains is less than predetermined threshold value；
2) when paint pump works, the water level numerical value that the water level sensing unit in container for paint obtains is less than predetermined threshold value；
3) when spacing radar works, sensing unit is not detected by the radar signal of spacing radar；
4) when wash pump, paint pump or hot-air blower work, barrier detections of radar to front exterior wall spacing at default threshold
Time outside value interval；
5) when unreeling length measurement unit and detecting that unreeling length is more than predetermined threshold value；
6) when electric quantity of power supply is less than preset security value.
The present invention can remotely operate, it is not necessary to staff climbs eminence construction so that exterior wall reparation construction process
Safely and fast, the professional requirement of construction is reduced.
Accompanying drawing explanation
The content expressed every width accompanying drawing in description of the invention below is briefly described:
Fig. 1 is that unmanned plane structural representation repaired by large area exterior wall.
Detailed description of the invention
Large area exterior wall of the present invention is repaired unmanned plane and is included that unmanned plane unit and surface units, unmanned plane unit and ground are single
Connected by work cable between unit, work cable by holding wire, power line be strapped in water pipe together with constitute, large area exterior wall
Repair unmanned plane and be divided into above-mentioned two part, it is possible to greatly improve the motility of unmanned plane unit, and aerial work
Flying power.
Unmanned plane unit main body aviation mechanism is rotor wing unmanned aerial vehicle, and the lower section of rotor wing unmanned aerial vehicle is fixed with The Cloud Terrace, The Cloud Terrace by
Universal electric governor motion drives and rotates, remote controller output Universal electric governor motion drive signal to controller, power line and
Holding wire is all connected with Universal electric governor motion, and power line is that Universal electric governor motion is powered, holding wire output control signal
To Universal electric governor motion.
Being fixed with photographic head, cleaning nozzle, paint spray nozzle and hot-air blower on The Cloud Terrace, water pipe is provided with two, and its termination is respectively
Connect cleaning nozzle and paint spray nozzle, cleaning nozzle and paint spray nozzle are horizontally disposed with in the same direction, carry out metope cleaning and spray coating operations.
Hot-air blower is used for drying clean water and coating, it is ensured that repairing quality.Photographic head output has the picture signal of cross foresight to letter
Number line, hot-air blower, cleaning nozzle are identical with the blowing/injection direction of paint spray nozzle, are the position of described cross foresight, due to
Photographic head, hot-air blower, cleaning nozzle and paint spray nozzle are each attached on The Cloud Terrace, only need to debug the position of cross foresight, nothing in advance
How opinion The Cloud Terrace rotates, and can ensure spraying, the accuracy of blowing direction.
The Cloud Terrace is provided with the barrier radar of detection camera photographing direction obstacle distance information, and barrier radar exports
Distance signal can ensure that the spacing of device and exterior wall to holding wire, the radar that breaks the barriers, it is to avoid the error that vision judges, protects
Card spraying, the quality of blowing.
Surface units includes cleaning container, container for paint, power supply, controller, spacing radar and reel, and cleaning container is used for
Holding clean water, can clean and moisten metope, container for paint is for depositing the coating of repairing.Surface units is fixed on dolly
On, convenient transhipment, dolly has halting mechanism, it is ensured that during device work, dolly will not arbitrarily move, and improves processing safety,
Dolly is provided with and parks platform for park unmanned plane unit, park platform be provided with fixing unmanned plane unit fixing band or
Stationary fixture, when dolly moves, it is possible to ensure will not falling of unmanned plane unit.
Power supply is that whole unmanned plane unit is powered by power line, also powers for surface units, is effectively equipped with electricity for power supply
Pond administrative unit, and battery data is delivered to display shows, allow staff understand power supply status in real time.
Reel for folding and unfolding work cable and is driven by coiling motor, and two water pipes connect wash pump and paint pump respectively,
Water in wash pump extraction cleaning container, the coating in paint pump extraction container for paint, it is all provided with in cleaning container and container for paint
There are water level sensing unit, two water level sensing unit output water level signal can show over the display to controller, waterlevel data
Show, and at the too low alarm of water level, facilitate staff to feed in time.
For the unwrapping wire length of Automated condtrol work cable, spacing radar is fixed on universal base for detection with unmanned
Distance between machine unit, spacing radar output distance signal to controller, controller controls coiling electricity by this distance signal
Machine works, thus controls the length of unwrapping wire, and The Cloud Terrace is provided with the sensing unit receiving spacing radar signal, and sensing unit connects letter
Number line, and induced signal is delivered to controller, when unmanned plane unit flies out the scope of spacing radar, i.e. sensing unit is without letter
Number, then can with alarm, staff then by regulating the direction of universal base, persistently monitor between the two away from, thus rationally control
The releasing length of work cable processed.
Reel be provided with for measure work cable release length unreel length measurement unit, unreel length measurement unit
Output length signals is to controller, and controller is furnished with alarm unit and display, can show different parameter, data, and profit
Staff is given corresponding alarm, for remote controlled rotary-wing unmanned plane, wash pump, paint pump, universal electricity with alarm unit
The remote controller of dynamic governor motion and hot-air blower connects controller, and controller connects holding wire, sends and controls signal to unmanned plane list
Unit.
Owing to reel work is rotation status, therefore the reel end of work cable has a swivel joint and surface units
Each equipment connect, swivel joint includes the swivel joint of water pipe swivel joint and power line and holding wire, due to line,
Pipe has four, can be affixed with reel by section components, keeps synchronous rotary, it would however also be possible to employ reel two goes out respectively
Line, the mode of pipe, solve wiring, adapter problem.
Control method based on above-mentioned large area exterior wall repairing unmanned plane:
After unmanned plane startup repaired by large area exterior wall, by remote control device rotor wing unmanned aerial vehicle, Universal electric governor motion, heat
Blower fan, wash pump and paint pump work；Remote signal includes controlling rotor wing unmanned aerial vehicle flight control signal, Universal electric governor motion
The keying signal of turn signal, hot-air blower, wash pump and paint pump；
When rotor wing unmanned aerial vehicle takes off, controller is just unreeling motor according to the distance controlling of unmanned plane unit Yu surface units
Turn, overturn or stop, described in unreel motor unreel length distance+safe distance equal to unmanned plane unit and surface units,
Safe distance increases with the distance of unmanned plane unit with surface units and increases, so that work cable remains at a peace
Complete unreels in length；
Obtain following arbitrary signal when unmanned plane work repaired by large area exterior wall, then carry out reporting to the police and give to carry accordingly
Show；
1) when wash pump works, the water level numerical value that the water level sensing unit in cleaning container obtains is less than predetermined threshold value；
2) when paint pump works, the water level numerical value that the water level sensing unit in container for paint obtains is less than predetermined threshold value；
3) when spacing radar works, sensing unit is not detected by the radar signal of spacing radar；
4) when wash pump, paint pump or hot-air blower work, barrier detections of radar to front exterior wall spacing at default threshold
Time outside value interval；
5) when unreeling length measurement unit and detecting that unreeling length is more than predetermined threshold value；
6) when electric quantity of power supply is less than preset security value.
By above-mentioned early warning so that device work is more safe and reliable.
Claims (8)
1. unmanned plane repaired by large area exterior wall, it is characterised in that: include unmanned plane unit and surface units, holding wire, power line
Constitute work cable together with being strapped in water pipe, connected by work cable between described unmanned plane unit and surface units；
Unmanned plane unit: be fixed with The Cloud Terrace below rotor wing unmanned aerial vehicle, described The Cloud Terrace is fixed with cleaning nozzle, paint spray nozzle and heat
Blower fan, described water pipe is provided with two, and its termination connects cleaning nozzle and paint spray nozzle respectively；
Surface units: including cleaning container, container for paint, power supply, controller, spacing radar and reel, described power supply connects electricity
Source line, described reel for folding and unfolding work cable and is driven by coiling motor, and two described water pipes connect wash pump and painting respectively
Material pump, the water in described wash pump extraction cleaning container, the coating in described paint pump extraction container for paint, described spacing radar
Being fixed on universal base for the distance between detection and unmanned plane unit, described spacing radar output distance signal is to controlling
Device, described controller connects holding wire and also outputs control signals to coiling motor, for remote controlled rotary-wing unmanned plane, hot-air blower, clear
Clean pump, the remote controller of paint pump connect controller.
Unmanned plane repaired by large area exterior wall the most according to claim 1, it is characterised in that: described The Cloud Terrace is adjusted by Universal electric
Joint mechanism drives and rotates, and described power line and holding wire are all connected with Universal electric governor motion, described The Cloud Terrace is fixed with level
Gather the photographic head of image information, and output has the picture signal of cross foresight to holding wire, described hot-air blower, cleaning nozzle
Identical with the blowing/injection direction of paint spray nozzle, it is the position of described cross foresight, described remote controller output Universal electric is adjusted
Joint mechanism drives signal to controller.
Unmanned plane repaired by large area exterior wall the most according to claim 1 and 2, it is characterised in that: described The Cloud Terrace is provided with spy
Surveying the barrier radar of camera photographing direction obstacle distance information, described barrier radar output distance signal is to signal
Line.
Unmanned plane repaired by large area exterior wall the most according to claim 1, it is characterised in that: described surface units is fixed on little
Che Shang, described dolly has halting mechanism, and described dolly is provided with and parks platform for park unmanned plane unit, described in park
Platform is provided with fixing band or the stationary fixture of fixing unmanned plane unit.
Unmanned plane repaired by large area exterior wall the most according to claim 4, it is characterised in that: described reel is provided with for surveying
Amount work cable release length unreel length measurement unit, described in unreel length measurement unit output length signals to control
Device, is equipped with water level sensing unit in described cleaning container and container for paint, described water level sensing unit output water level signal is extremely
Controller, described controller is furnished with alarm unit and display.
Unmanned plane repaired by large area exterior wall the most according to claim 1, it is characterised in that: institute's The Cloud Terrace is provided with reception spacing
The sensing unit of radar signal, described sensing unit connects holding wire.
7. the control method of unmanned plane is repaired based on large area exterior wall according to any one of claim 1-6, it is characterised in that:
After unmanned plane startup repaired by large area exterior wall, by remote control device rotor wing unmanned aerial vehicle, Universal electric governor motion, hot blast
Machine, wash pump and paint pump work；
When rotor wing unmanned aerial vehicle takes off, controller unreels motor according to the distance controlling of unmanned plane unit with surface units and rotates forward, turns over
Turn or stop, described in unreel motor unreel length distance+safe distance equal to unmanned plane unit and surface units, described peace
Full distance increases with the distance of unmanned plane unit with surface units and increases.
Control method the most according to claim 7, it is characterised in that: obtain when unmanned plane work repaired by large area exterior wall
Following arbitrary signal, then carry out reporting to the police and give to point out accordingly；
1) when wash pump works, the water level numerical value that the water level sensing unit in cleaning container obtains is less than predetermined threshold value；
2) when paint pump works, the water level numerical value that the water level sensing unit in container for paint obtains is less than predetermined threshold value；
3) when spacing radar works, sensing unit is not detected by the radar signal of spacing radar；
4) when wash pump, paint pump or hot-air blower work, barrier detections of radar to front exterior wall spacing in predetermined threshold value district
Time outside between；
5) when unreeling length measurement unit and detecting that unreeling length is more than predetermined threshold value；
6) when electric quantity of power supply is less than preset security value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610865174.3A CN106314769B (en) | 2016-09-29 | 2016-09-29 | Large area exterior wall repairs unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610865174.3A CN106314769B (en) | 2016-09-29 | 2016-09-29 | Large area exterior wall repairs unmanned plane |
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| CN106314769A true CN106314769A (en) | 2017-01-11 |
| CN106314769B CN106314769B (en) | 2019-02-22 |
Family
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| CN201610865174.3A Active CN106314769B (en) | 2016-09-29 | 2016-09-29 | Large area exterior wall repairs unmanned plane |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107100352A (en) * | 2017-05-25 | 2017-08-29 | 韩登银 | A kind of wall covering safeguards unmanned plane |
| CN107190952A (en) * | 2017-05-23 | 2017-09-22 | 佛山市神风航空科技有限公司 | A kind of unmanned plane paints equipment |
| CN108412168A (en) * | 2018-03-24 | 2018-08-17 | 皆爱西（上海）节能环保工程股份有限公司 | A kind of outdoor wall surface spraying equipment based on unmanned plane |
| CN109162431A (en) * | 2018-10-31 | 2019-01-08 | 陕西理工大学 | A kind of high building wall spray robot |
| CN110282145A (en) * | 2019-07-09 | 2019-09-27 | 深圳市智旋科技有限公司 | Managing device and its application method are parked in a kind of flight of unmanned vehicle |
| CN110979690A (en) * | 2019-12-27 | 2020-04-10 | 扬州大学 | Unmanned aerial vehicle is repaired to intelligence building |
| CN113090062A (en) * | 2021-04-07 | 2021-07-09 | 西湖大学 | Air operation system for repairing task |
| CN113235876A (en) * | 2021-05-12 | 2021-08-10 | 福建银润建筑有限公司 | Spraying device and spraying process for outer wall protection material |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107190952A (en) * | 2017-05-23 | 2017-09-22 | 佛山市神风航空科技有限公司 | A kind of unmanned plane paints equipment |
| CN107100352A (en) * | 2017-05-25 | 2017-08-29 | 韩登银 | A kind of wall covering safeguards unmanned plane |
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| CN108412168A (en) * | 2018-03-24 | 2018-08-17 | 皆爱西（上海）节能环保工程股份有限公司 | A kind of outdoor wall surface spraying equipment based on unmanned plane |
| CN109162431A (en) * | 2018-10-31 | 2019-01-08 | 陕西理工大学 | A kind of high building wall spray robot |
| CN109162431B (en) * | 2018-10-31 | 2021-03-23 | 陕西理工大学 | High-rise wall spraying robot |
| CN110282145A (en) * | 2019-07-09 | 2019-09-27 | 深圳市智旋科技有限公司 | Managing device and its application method are parked in a kind of flight of unmanned vehicle |
| CN110282145B (en) * | 2019-07-09 | 2020-08-25 | 山东德鲁泰信息科技股份有限公司 | Flight parking management device of unmanned aerial vehicle and use method thereof |
| CN110979690A (en) * | 2019-12-27 | 2020-04-10 | 扬州大学 | Unmanned aerial vehicle is repaired to intelligence building |
| CN113090062A (en) * | 2021-04-07 | 2021-07-09 | 西湖大学 | Air operation system for repairing task |
| CN113235876A (en) * | 2021-05-12 | 2021-08-10 | 福建银润建筑有限公司 | Spraying device and spraying process for outer wall protection material |
| CN113235876B (en) * | 2021-05-12 | 2022-06-03 | 福建银润建筑有限公司 | Spraying device and spraying process for outer wall protection material |
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| Publication number | Publication date |
|---|---|
| CN106314769B (en) | 2019-02-22 |
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