CN106337568A - High-efficiency outer wall repairing unmanned aerial vehicle - Google Patents
High-efficiency outer wall repairing unmanned aerial vehicle Download PDFInfo
- Publication number
- CN106337568A CN106337568A CN201610865172.4A CN201610865172A CN106337568A CN 106337568 A CN106337568 A CN 106337568A CN 201610865172 A CN201610865172 A CN 201610865172A CN 106337568 A CN106337568 A CN 106337568A
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- unmanned plane
- unit
- paint
- exterior wall
- aerial vehicle
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 39
- 238000000034 method Methods 0.000 claims abstract description 6
- 239000003973 paint Substances 0.000 claims description 37
- 238000004140 cleaning Methods 0.000 claims description 29
- 239000011248 coating agent Substances 0.000 claims description 11
- 238000000576 coating method Methods 0.000 claims description 11
- 239000007921 spray Substances 0.000 claims description 11
- 230000004888 barrier function Effects 0.000 claims description 10
- 238000005259 measurement Methods 0.000 claims description 10
- 230000008439 repair process Effects 0.000 claims description 9
- 230000007246 mechanism Effects 0.000 claims description 7
- 239000000284 extract Substances 0.000 claims description 6
- 238000007664 blowing Methods 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 4
- 238000002347 injection Methods 0.000 claims description 3
- 239000007924 injection Substances 0.000 claims description 3
- 238000010276 construction Methods 0.000 abstract description 7
- 230000008569 process Effects 0.000 abstract description 2
- 238000005507 spraying Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical group C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 238000000151 deposition Methods 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005562 fading Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Working Measures On Existing Buildindgs (AREA)
- Cleaning By Liquid Or Steam (AREA)
- Spray Control Apparatus (AREA)
Abstract
The invention discloses a high-efficiency outer wall repairing unmanned aerial vehicle. The high-efficiency outer wall repairing unmanned aerial vehicle comprises an unmanned aerial vehicle unit and a ground unit, wherein a signal wire, a power supply wire and a water pipe are bundled together to form a working cable, and the unmanned aerial vehicle unit is connected with the ground unit by virtue of the working cable. The high-efficiency outer wall repairing unmanned aerial vehicle can be remotely operated; and by adopting the high-efficiency outer wall repairing unmanned aerial vehicle, the working personnel does not need to climb at a high altitude to perform the construction, and therefore the repairing construction process of an outer wall is safe and rapid, and the construction professional requirement is alleviated.
Description
Technical field
The present invention relates to unmanned plane field, more particularly, to repair the unmanned plane of exterior wall.
Background technology
Skin local shedding, colour fading, it usually needs repaired, mending course needs artificial climbing or from top
Suspention is got off, and there is construction risk, and bothersome laborious.
Content of the invention
The technical problem to be solved is to realize a kind of device that can carry out exterior wall modification using unmanned plane.
To achieve these goals, the technical solution used in the present invention is: efficiently unmanned plane repaired by exterior wall, including unmanned plane
Unit and surface units, holding wire, power line constitute work cable together with water pipe bondage, described unmanned plane unit and ground
Connected by work cable between unit；
Unmanned plane unit: be fixed with head below rotor wing unmanned aerial vehicle, described head 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, solid on described rotor wing unmanned aerial vehicle
Surely there is the downward laser range sensor measuring flying height, laser range sensor output distance signal is to holding wire；；
Surface units: include cleaning container, container for paint, power supply, controller and reel, described power supply connects power line,
Described reel is used for folding and unfolding work cable and by coiling Motor drive, and two described water pipes connect wash pump and paint pump respectively,
Described wash pump extracts the water in cleaning container, and described paint pump extracts the coating in container for paint, and described controller connects letter
Number line simultaneously outputs control signals to coiling motor, for remote controlled rotary-wing unmanned plane, hot-air blower, wash pump, paint pump remote control
Connect controller.
Described head is driven by Universal electric governor motion and rotates, and described power line and holding wire are all connected with Universal electric and adjust
Section mechanism, described head is fixed with the photographic head of level acquisition image information, and exports the picture signal with cross foresight
To holding wire, described hot-air blower, cleaning nozzle are identical with the blowing/injection direction of paint spray nozzle, are described cross foresight
Position, described remote control output Universal electric governor motion drive signal is to controller.
Described head is provided with the barrier radar detecting camera photographing direction obstacle distance information, described barrier
Radar output distance signal is to holding wire.
Described surface units are fixed on dolly, and described dolly has halting mechanism, and described dolly is provided with for parking
Unmanned plane unit park platform, described park fixing band or the stationary fixture that platform is provided with fixing unmanned plane unit.
Described reel is provided with and unreels length measurement unit for measure that work cable releases length, described unreels length
Measuring unit output length signals, to controller, is equipped with water level sensing unit in described cleaning container and container for paint, described
To controller, described controller is furnished with alarm unit and display to water level sensing unit output water level signal.
Gps unit is equipped with institute's head unmanned plane unit and surface units, described gps unit all outputs signal to control
Device obtains the horizontal-direction pitch of unmanned plane unit and surface units.
Control method based on described efficient exterior wall repairing unmanned plane:
After efficiently unmanned plane startup repaired by exterior wall, by remote control device rotor wing unmanned aerial vehicle, Universal electric governor motion, hot blast
Machine, wash pump and coating pump work；
When rotor wing unmanned aerial vehicle takes off, controller is just unreeling motor according to the distance controlling of unmanned plane unit and surface units
Turn, overturn or stop, the described distance+safe distance that length is equal to unmanned plane unit and surface units that unreels unreeling motor,
Described safe distance increases with the distance of unmanned plane unit and surface units and increases.
Obtain following arbitrary signal when unmanned plane work repaired by efficient exterior wall, then reported to the police and given accordingly to point out；
1) when cleaning pump work, the water level numerical value that the water level sensing unit in cleaning container obtains is less than predetermined threshold value；
2) when coating pump work, the water level numerical value that the water level sensing unit in container for paint obtains is less than predetermined threshold value；
3) when electric quantity of power supply is less than preset security value；
4) when wash pump, paint pump or hot-air blower work, barrier detections of radar is to front exterior wall spacing in default threshold
When outside value interval；
5) when unreel length measurement unit detect unreel length be more than predetermined threshold value when.
The present invention can remote operation it is not necessary to staff climbs eminence construction so that exterior wall reparation construction process
Safely and fast, reduce the professional requirement of construction.
Brief description
Below the content of width accompanying drawing expression every in description of the invention is briefly described:
Fig. 1 is that unmanned plane structural representation repaired by efficient exterior wall.
Specific embodiment
The efficient exterior wall of the present invention is repaired unmanned plane and is included unmanned plane unit and surface units, unmanned plane unit and surface units
Between connected by work cable, work cable is made up of together with water pipe bondage holding wire, power line, and efficient exterior wall is repaired
Unmanned plane is divided into above-mentioned two part, can greatly improve the motility of unmanned plane unit, and the continuation of the journey of aerial work
Ability.
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 head, head by
Universal electric governor motion drives and rotates, remote control 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 powered for Universal electric governor motion, holding wire output control signal
To Universal electric governor motion.
Photographic head, cleaning nozzle, paint spray nozzle and hot-air blower are fixed with head, water pipe is provided with two, its termination is respectively
Connect cleaning nozzle and paint spray nozzle, cleaning nozzle and paint spray nozzle are horizontally disposed with 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 head, only need to debug the position of cross foresight in advance, no
How to rotate by head, spraying, the accuracy of blowing direction can be ensured.
Head is provided with the barrier radar detecting 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 include cleaning container, container for paint, power supply, controller and reel, and cleaning container is used for holding cleaning
Water, can clean and moisten metope, and container for paint is used for depositing the coating of repairing.Surface units are fixed on dolly, convenient turn
Fortune, dolly has halting mechanism it is ensured that when device works, dolly will not arbitrarily move, and improves processing safety, dolly is provided with
Park platform for park unmanned plane unit, park fixing band or the stationary fixture that platform is provided with fixing unmanned plane unit,
When dolly is mobile, ensure that will not falling of unmanned plane unit.
Power supply is powered for whole unmanned plane unit 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 is used for folding and unfolding work cable and by coiling Motor drive, and two water pipes connect wash pump and paint pump respectively,
Wash pump extracts the water in cleaning container, and paint pump extracts the coating in container for paint, is all provided with cleaning container and container for paint
There is water level sensing unit, to controller, waterlevel data can show two water level sensing unit output water level signal over the display
Show, and in the too low alarm of water level, facilitate staff to feed in time.
For the unwrapping wire length of Automated condtrol work cable, rotor wing unmanned aerial vehicle is fixed with downward measurement flying height
Laser range sensor, laser range sensor is fixed on the measurement leading on rotor wing unmanned aerial vehicle it can be avoided that because of cloud platform rotation
Error, the distance of laser range sensor output is delivered to controller by holding wire, thus by obtaining unmanned plane unit
The height that takes off obtains the approximate distance of unmanned plane unit and surface units, and controller controls coiling motor work by this distance signal
Make, thus controlling the length of unwrapping wire, by improve further acquisitions unmanned plane unit and surface units distance precision, head is no
Gps unit is equipped with man-machine unit and surface units, described gps unit all outputs signal to controller and obtains unmanned plane unit
With the horizontal-direction pitch of surface units such that it is able to obtain more accurate unmanned plane unit and ground list using Pythagorean theorem
The distance of unit, improves the precision of work cable unwrapping wire length.
Reel be provided with for measure work cable release length unreel length measurement unit, unreel length measurement unit
To controller, controller is furnished with alarm unit and display to output length signals, can show different parameters, data, and profit
Give staff corresponding alarm with alarm unit, for remote controlled rotary-wing unmanned plane, wash pump, paint pump, universal electricity
The remote control of dynamic governor motion and hot-air blower connects controller, and controller connects holding wire, sends control signal to unmanned plane list
Unit.
Because reel works as rotation status, the reel end of therefore 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 efficient exterior wall repairing unmanned plane:
After efficiently unmanned plane startup repaired by exterior wall, by remote control device rotor wing unmanned aerial vehicle, Universal electric governor motion, hot blast
Machine, wash pump and coating pump work；Remote signal includes control rotor wing unmanned aerial vehicle flight control signal, Universal electric governor motion turns
Keying signal to 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 and surface units
Turn, overturn or stop, the described distance+safe distance that length is equal to unmanned plane unit and surface units that unreels unreeling motor,
Safe distance increases with the distance of unmanned plane unit and 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 efficient exterior wall, then reported to the police and given accordingly to point out；
1) when cleaning pump work, the water level numerical value that the water level sensing unit in cleaning container obtains is less than predetermined threshold value；
2) when coating pump work, the water level numerical value that the water level sensing unit in container for paint obtains is less than predetermined threshold value；
3) when electric quantity of power supply is less than preset security value；
4) when wash pump, paint pump or hot-air blower work, barrier detections of radar is to front exterior wall spacing in default threshold
When outside value interval；
5) when unreel length measurement unit detect unreel length be more than predetermined threshold value when.
By above-mentioned early warning so that device work is more safe and reliable.
Claims (8)
1. efficient exterior wall repair unmanned plane it is characterised in that: include unmanned plane unit and surface units, holding wire, power line and
Water pipe bondage constitutes work cable together, is connected by work cable between described unmanned plane unit and surface units；
Unmanned plane unit: be fixed with head below rotor wing unmanned aerial vehicle, described head 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, and described rotor wing unmanned aerial vehicle is fixed with
Measure downwards the laser range sensor of flying height, laser range sensor output distance signal is to holding wire；；
Surface units: include cleaning container, container for paint, power supply, controller and reel, described power supply connects power line, described
Reel is used for folding and unfolding work cable and by coiling Motor drive, and two described water pipes connect wash pump and paint pump respectively, described
Wash pump extracts the water in cleaning container, and described paint pump extracts the coating in container for paint, and described controller connects holding wire
And outputing control signals to coiling motor, the remote control for remote controlled rotary-wing unmanned plane, hot-air blower, wash pump, paint pump connects
Controller.
2. efficient exterior wall according to claim 1 repair unmanned plane it is characterised in that: described head is adjusted by Universal electric
Mechanism drives and rotates, and described power line and holding wire are all connected with Universal electric governor motion, described head is fixed with level and adopts
The photographic head of collection image information, and exports the picture signal with cross foresight to holding wire, described hot-air blower, cleaning nozzle and
Blowing/the injection direction of paint spray nozzle is identical, is the position of described cross foresight, and described remote control output Universal electric is adjusted
Mechanism's drive signal is to controller.
3. efficient exterior wall according to claim 1 and 2 repair unmanned plane it is characterised in that: described head is provided with detection
The barrier radar of camera photographing direction obstacle distance information, described barrier radar output distance signal is to holding wire.
4. efficient exterior wall according to claim 1 repair unmanned plane it is characterised in that: described surface units are fixed on dolly
On, described dolly has halting mechanism, and described dolly is provided with and parks platform for park unmanned plane unit, described park flat
Platform is provided with fixing band or the stationary fixture of fixing unmanned plane unit.
5. efficient exterior wall according to claim 4 repair unmanned plane it is characterised in that: described reel is provided with for measuring
Work cable release length unreel length measurement unit, described unreel length measurement unit output length signals to controller,
It is equipped with water level sensing unit, described water level sensing unit output water level signal is to control in described cleaning container and container for paint
Device, described controller is furnished with alarm unit and display.
6. efficient exterior wall according to claim 1 repair unmanned plane it is characterised in that: institute's head unmanned plane unit and ground
Gps unit is equipped with unit, described gps unit all outputs signal to the water that controller obtains unmanned plane unit and surface units
Square to spacing.
7. based on efficient exterior wall any one of claim 1-6 repair unmanned plane control method it is characterised in that:
Efficiently exterior wall is repaired after unmanned plane starts, by remote control device rotor wing unmanned aerial vehicle, Universal electric governor motion, hot-air blower,
Wash pump and coating pump work；
When rotor wing unmanned aerial vehicle takes off, controller unreels motor according to the distance controlling of unmanned plane unit and surface units and rotates forward, turns over
Turn or stop, the described distance+safe distance that length is equal to unmanned plane unit and surface units that unreels unreeling motor, described peace
Full distance increases with the distance of unmanned plane unit and surface units and increases.
8. control method according to claim 7 it is characterised in that: when efficient exterior wall repair unmanned plane work when obtain with
Lower arbitrary signal, then reported to the police and given accordingly to point out；
1) when cleaning pump work, the water level numerical value that the water level sensing unit in cleaning container obtains is less than predetermined threshold value；
2) when coating pump work, the water level numerical value that the water level sensing unit in container for paint obtains is less than predetermined threshold value；
3) when electric quantity of power supply is less than preset security value；
4) when wash pump, paint pump or hot-air blower work, barrier detections of radar is to front exterior wall spacing in predetermined threshold value area
Between outside when；
5) when unreel length measurement unit detect unreel length be more than predetermined threshold value when.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610865172.4A CN106337568B (en) | 2016-09-29 | 2016-09-29 | Efficient exterior wall repairs unmanned plane |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610865172.4A CN106337568B (en) | 2016-09-29 | 2016-09-29 | Efficient exterior wall repairs unmanned plane |
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| Publication Number | Publication Date |
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| CN106337568A true CN106337568A (en) | 2017-01-18 |
| CN106337568B CN106337568B (en) | 2018-11-30 |
Family
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106965929A (en) * | 2017-03-10 | 2017-07-21 | 佛山市神风航空科技有限公司 | One kind fishing unmanned plane |
| CN107049164A (en) * | 2017-03-10 | 2017-08-18 | 佛山市神风航空科技有限公司 | A kind of unmanned plane cleans high-altitude wall system |
| 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 |
| WO2021155641A1 (en) * | 2020-02-04 | 2021-08-12 | 胡瑞昊 | Wall painting cleaning method and dedicated device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106965929A (en) * | 2017-03-10 | 2017-07-21 | 佛山市神风航空科技有限公司 | One kind fishing unmanned plane |
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| CN110979690A (en) * | 2019-12-27 | 2020-04-10 | 扬州大学 | Unmanned aerial vehicle is repaired to intelligence building |
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| CN113090062A (en) * | 2021-04-07 | 2021-07-09 | 西湖大学 | Air operation system for repairing task |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106337568B (en) | 2018-11-30 |
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Effective date of registration: 20240313 Address after: Building 10, 6th Floor, Qingdao Xingtian Aviation Industrial Park, East of Liwang Road and West of Guihua Branch Road, Ligezhuang Town, Jiaozhou City, Shandong Province, 266000 Patentee after: Qingdao Feitianyi Drone Technology Co.,Ltd. Country or region after: China Address before: 241000 2nd floor, Xihu Xincheng, Sanshan District, Wuhu City, Anhui Province Patentee before: ANHUI INSOON FLIGHT SAFETY TECHNOLOGY CO.,LTD. Country or region before: China |
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