CN111451057B - Spraying robot and spraying method - Google Patents
Spraying robot and spraying method Download PDFInfo
- Publication number
- CN111451057B CN111451057B CN202010368752.9A CN202010368752A CN111451057B CN 111451057 B CN111451057 B CN 111451057B CN 202010368752 A CN202010368752 A CN 202010368752A CN 111451057 B CN111451057 B CN 111451057B
- Authority
- CN
- China
- Prior art keywords
- spraying
- distance
- sprayed
- aerial vehicle
- unmanned aerial
- 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.)
- Active
Links
- 238000005507 spraying Methods 0.000 title claims abstract description 250
- 239000007921 spray Substances 0.000 claims abstract description 100
- 239000007788 liquid Substances 0.000 claims abstract description 58
- 230000009471 action Effects 0.000 claims abstract description 8
- 238000001514 detection method Methods 0.000 claims description 17
- 238000003860 storage Methods 0.000 claims description 11
- 238000004804 winding Methods 0.000 claims description 9
- 230000005484 gravity Effects 0.000 claims description 6
- 238000010422 painting Methods 0.000 claims description 6
- 239000013307 optical fiber Substances 0.000 claims description 4
- 239000013013 elastic material Substances 0.000 claims description 3
- 230000007306 turnover Effects 0.000 claims 1
- 230000008901 benefit Effects 0.000 abstract description 6
- 238000000034 method Methods 0.000 description 12
- 230000008569 process Effects 0.000 description 8
- 238000005265 energy consumption Methods 0.000 description 4
- 239000000243 solution Substances 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000011550 stock solution Substances 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 238000005273 aeration Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000005406 washing Methods 0.000 description 1
Images
Classifications
-
- 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
- B05B13/0431—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 with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/12—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
- B05B12/124—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus responsive to distance between spray apparatus and target
-
- 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
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/62—Arrangements for supporting spraying apparatus, e.g. suction cups
- B05B15/628—Arrangements for supporting spraying apparatus, e.g. suction cups of variable length
-
- 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
- B05B15/70—Arrangements for moving spray heads automatically to or from the working position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Aviation & Aerospace Engineering (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a spraying robot and a spraying method, and relates to the field of unmanned aerial vehicle control, wherein the spraying robot comprises an unmanned aerial vehicle, a mooring rope and a ground trolley; the unmanned aerial vehicle comprises a spraying reaction force adjusting device, a telescopic long rod device, a steering device and the like; the telescopic long rod device comprises a telescopic adjustable long rod and is used for driving the spraying device to move back and forth along with the telescopic adjustment of the long rod; the steering device comprises a fixed seat and a rotating body and is used for driving the spraying device to rotate left and right along with the rotation adjustment of the rotating body; the spraying reaction force adjusting device is connected with the other end of the telescopic long rod device and is used for generating a reaction force which is in a pair with the action force of the spraying device on the unmanned aerial vehicle when the spraying device sprays liquid; the mooring rope is used for conveying power supplied by the unmanned aerial vehicle, transmitting a control signal and conveying liquid for spraying; the ground trolley is used for generating control signals and storing spraying liquid. The invention has the advantages of low power and wide application range.
Description
Technical Field
The invention relates to the field of unmanned aerial vehicle control, in particular to a spraying robot and a spraying method.
Background
Spraying unmanned aerial vehicle on the existing market, most all are with unmanned aerial vehicle flight, photography, patrol and examine, the plant sprays etc. as main function, moreover, can regard as operation platform's unmanned aerial vehicle to use at present, and its application mode most still is with hoist and mount, throws perpendicularly, and operations such as vertical traction are given first. One of the main features of these applications is: the working directions of the two-stage hydraulic lifting device are all perpendicular to the ground direction. That is, the unmanned aerial vehicle screw is located directly over whole operation platform, as long as keep the focus of unmanned aerial vehicle operation process not to take place too big skew, under flight control system's control, whole operation process and operation stage can not produce too big influence to unmanned aerial vehicle flight. However, in addition to the above applications, there are also applications that require the side of the drone as our direction of work, such as: utilize unmanned aerial vehicle to carry out the wall washing, high altitude wall painting or sign drawing, or unmanned aerial vehicle horizontal shooting etc.. A common feature of these types of applications is that the unmanned aerial vehicle is required to be deployed for operation on its side, and during operation, some lateral reaction force may be generated, which may be relatively constant, may be abrupt, or may be continuously disturbed. The existence of this horizontal reaction force can produce great influence to unmanned aerial vehicle flight platform itself, directly or indirectly influence operation precision, follow-up operation sustainability and security.
In order to reduce the influence of the reaction force on the flight attitude of the flight platform of the unmanned aerial vehicle during spraying operation as much as possible, some solutions are proposed at present, for example, chinese patent CN108438227A discloses a lateral spraying structure based on a flight platform of a multi-rotor unmanned aerial vehicle, which includes a frame connected with the flight platform of the multi-rotor unmanned aerial vehicle, a spraying device and a balance control system; the spraying device is arranged on the frame, and a spraying opening of the spraying device faces the front of the frame; the balance control system comprises a power supply device (two propellers) arranged behind a spraying opening of the spraying device and arranged on the frame, a detection device arranged on the spraying device and a main control processor for controlling the power supply and distribution device to operate. Although this side direction spraying structure provides the balancing force of a balanced spraying device reaction, the stability of unmanned aerial vehicle platform gesture when guaranteeing the spraying operation. However, the unmanned aerial vehicle platform is loaded with the spraying device, so that the load is increased, the accuracy of the overweight platform is easy to reduce due to the influence of factors such as inertia during attitude control, and the energy consumption is high. Because the restriction of this spraying structure, can only carry out the spraying to the face a little far away, can't be close to the flight apart from too closely unmanned aerial vehicle platform, application scope is little.
Disclosure of Invention
Therefore, the technical problem to be solved by the embodiment of the invention is to overcome the defects of low precision, large energy consumption and small application range of the spraying unmanned aerial vehicle in the prior art, so that the spraying robot and the spraying method are provided.
To this end, a painting robot of an embodiment of the present invention includes: the system comprises an unmanned aerial vehicle, a mooring rope and a ground trolley;
the unmanned aerial vehicle comprises a spraying reaction force adjusting device, a four-rotor wing mounting seat, a telescopic long rod device, a steering device, a spraying device and a distance and angle detection device;
the four-rotor mounting base is connected with four rotors of the unmanned aerial vehicle;
the telescopic long rod device is arranged right below the gravity center position of the four-rotor wing mounting seat, comprises a telescopic long rod and is used for driving the spraying device to move back and forth along with the telescopic adjustment of the long rod;
the steering device comprises a fixed seat and a rotating body, the fixed seat is connected with one end of the telescopic long rod device, and the rotating body is connected with the spraying device and used for driving the spraying device to rotate left and right along with the rotation adjustment of the rotating body;
the spraying device is used for spraying liquid for spraying;
the spraying reaction force adjusting device is connected with the other end of the telescopic long rod device and is used for generating a reaction force which is in a pair with the action force of the spraying device on the unmanned aerial vehicle when the spraying device sprays liquid;
the distance and angle detection device is arranged on the spraying device and used for detecting the distance and angle between the surface to be sprayed and the spraying device;
the mooring rope comprises a mooring rope limiting device, and the mooring rope limiting device is arranged below the telescopic long rod device right below the gravity center position of the four-rotor mounting seat and used for fixing the mooring rope connected with the unmanned aerial vehicle; the mooring rope is used for conveying power supplied by the unmanned aerial vehicle, transmitting a control signal and conveying liquid for spraying;
the ground trolley is respectively connected with the spraying reaction force adjusting device, the telescopic long rod device, the steering device and the spraying device through mooring ropes, and is used for controlling the spraying reaction force adjusting device, the telescopic long rod device, the steering device and the spraying device and storing liquid for spraying.
Preferably, the spraying reaction force adjusting device comprises a first propeller, a second propeller and a third propeller;
the first propeller is arranged at the tail part of the other end of the telescopic long rod device and is used for generating forward reaction force;
the second propeller is arranged on the left side of the other end of the telescopic long rod device and used for generating a rightward reaction force;
the third screw propeller is arranged on the right side of the other end of the telescopic long rod device and used for generating a reaction force towards the left.
Preferably, the fixing seat of the steering device comprises a bearing, an arc-shaped elastic part and an inflating ring;
the fixing seat is provided with a vertical through hole, the bearing is arranged in the through hole, and the fixing seat is connected with the rotating body through the bearing;
the arc-shaped elastic piece is made of elastic material, one end of the arc-shaped elastic piece is connected with the inner wall of the through hole, the other end of the arc-shaped elastic piece is a free movable end which is bent towards one end, and one end and the other end of the arc-shaped elastic piece surround to form a hook part which is used for expanding to contact the rotating body and limiting the rotating body to rotate when the arc-shaped elastic piece is stressed and stretched;
the inflation ring is positioned in the hook part and used for inflating and deflating to expand or restore the hook part to the original shape.
Preferably, the rotating body includes a rotating shaft, a positioning gear, and an epicyclic gear;
the rotating shaft is connected in series with the bearing and is used for driving the positioning gear to rotate;
the positioning gear is sleeved at one end of the rotating shaft;
the revolving gear is meshed with the positioning gear and rotates along the circumferential direction of the positioning gear, and is used for driving the spraying device connected to the revolving gear to rotate left and right along with the positioning gear.
Preferably, the spraying device comprises an auxiliary booster pump, a spray head and a spray cover;
the auxiliary booster pump is connected with the spray head and is used for increasing the speed of liquid sprayed out by the spray head;
the spray cover is sleeved on the spray head and used for limiting the spray range of the liquid.
Preferably, the mooring line comprises a power cable, a control cable and a media transport cable;
the power cable is used for transmitting power supplied by the unmanned aerial vehicle;
the control cable adopts an optical fiber cable and is used for transmitting a control signal;
the medium conveying cable is used for conveying liquid for spraying.
Preferably, the ground trolley comprises a mooring winch device, a controller and a liquid storage device;
the mooring winch device is used for winding and releasing the mooring rope wound on the mooring winch device;
the controller is used for automatically controlling the spraying reaction force adjusting device, the telescopic long rod device, the steering device, the spraying device, the mooring and winding device and the liquid storage device;
the liquid storage device is used for storing and outputting liquid for spraying.
The embodiment provides a spraying method, which comprises the following steps:
acquiring an included angle between the end face of the spray cover and a surface to be sprayed, which is detected by the distance and angle detection device;
judging whether an included angle between the end face of the spray cover and the surface to be sprayed is 0 or not;
when the included angle between the end face of the spray cover and the surface to be sprayed is 0, acquiring the distance between the end face of the spray cover and the surface to be sprayed, which is detected by the angle detection device;
judging whether the distance between the end face of the spraying cover and the surface to be sprayed is larger than or equal to a safe flying distance, wherein the safe flying distance is the minimum distance from the unmanned aerial vehicle to the surface to be sprayed under the condition of meeting safe flying conditions;
when the distance between the end face of the spray cover and the surface to be sprayed is greater than or equal to the safe flying distance, judging whether the distance between the end face of the spray cover and the surface to be sprayed is less than or equal to the maximum spraying distance, wherein the maximum spraying distance is the maximum distance which can be sprayed by the spraying device;
when the distance between the end face of the spraying cover and the surface to be sprayed is smaller than or equal to the maximum spraying distance, the auxiliary booster pump is controlled to be started to spray the spraying liquid from the spray head, and meanwhile, the first propeller is controlled to rotate to enable the forward reaction force moment generated by the first propeller to be equal to the spraying action force moment.
Preferably, the method further comprises the following steps:
when the distance between the end face of the spray cover and the surface to be sprayed is greater than the maximum spraying distance, the telescopic long rod device is controlled to extend to drive the spraying device to move forwards, so that the end face of the spray cover is positioned at a position where the distance between the end face of the spray cover and the surface to be sprayed is less than or equal to the maximum spraying distance;
the auxiliary booster pump is controlled to be started to enable the spraying liquid to be sprayed out of the spray head, and meanwhile the first propeller is controlled to rotate to enable the forward reaction force moment generated by the first propeller to be equal to the spraying action force moment.
Preferably, the method further comprises the following steps:
when the included angle between the end face of the spraying cover and the surface to be sprayed is not 0, controlling the rotating shaft to drive the positioning gear to rotate so as to drive the revolving gear to rotate circumferentially, enabling the spraying device to rotate left and right until the included angle between the end face of the spraying cover and the surface to be sprayed is 0, and recording the rotating direction and the rotating angle of the spraying device;
controlling the inflation of the inflation ring to expand the hook part of the arc-shaped elastic part to contact the rotating shaft and limit the rotation of the rotating shaft;
acquiring the distance between the end face of the spray cover and the surface to be sprayed, which is detected by the distance and angle detection device;
judging whether the distance between the end face of the spray cover and the surface to be sprayed is greater than or equal to the safe flying distance;
when the distance between the end face of the spray cover and the surface to be sprayed is greater than or equal to the safe flying distance, judging whether the distance between the end face of the spray cover and the surface to be sprayed is less than or equal to the maximum spraying distance;
when the distance between the end face of the spraying cover and the surface to be sprayed is smaller than or equal to the maximum spraying distance, the auxiliary booster pump is controlled to be started to spray the spraying liquid from the spray head, and meanwhile, the combination of the first propeller and the second propeller or the combination of the first propeller and the third propeller is controlled to rotate according to the rotating direction and the rotating angle of the spraying device, so that the forward right or forward left reaction force moment generated by the first propeller and the second propeller is equal to the spraying action force moment.
The technical scheme of the embodiment of the invention has the following advantages:
1. according to the spraying robot provided by the embodiment of the invention, as the unmanned aerial vehicle is not provided with the power supply equipment and the liquid storage equipment, the weight of the unmanned aerial vehicle is greatly reduced, the energy consumption is reduced, the spraying robot has the advantage of low power, the attitude control precision is improved, and the spraying precision is improved. Through setting up flexible stock device, increased the spraying distance, enlarged application scope. The electric power supply is implemented through the ground trolley, so that the spraying robot has the advantage of long emptying time.
2. According to the spraying method provided by the embodiment of the invention, after the unmanned aerial vehicle is controlled to fly to reach the preset position, the included angle and the distance between the end face of the spraying cover and the surface to be sprayed are judged, so that the position of the spraying device is accurately adjusted, and the spraying precision is improved. And according to spray set's direction of rotation and angle, choose for use the different combinations in first, second, the third screw to produce suitable reaction force, unmanned aerial vehicle's stability when having guaranteed the spraying has further improved the spraying precision, has also enlarged the shape scope of the face of can spraying, has enlarged application scope.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic front view of a specific example of an unmanned aerial vehicle in embodiment 1 of the present invention;
fig. 2 is a schematic top view of a specific example of the unmanned aerial vehicle in embodiment 1 of the present invention;
fig. 3 is a sectional view showing a specific example of an active state of a steering device in embodiment 1 of the present invention;
fig. 4 is a sectional view showing a specific example of a locked state of the steering device in embodiment 1 of the present invention;
FIG. 5 is a schematic configuration diagram of a specific example of a spray coating device in embodiment 1 of the present invention;
fig. 6 is a schematic structural view of a specific example of the ground cart according to embodiment 1 of the present invention;
fig. 7 is a flowchart showing a specific example of the spray coating method in embodiment 2 of the present invention.
Reference numerals: 1-unmanned aerial vehicle, 11-first propeller, 12-second propeller, 13-third propeller, 14-four-rotor mounting seat, 15-telescopic long rod device, 16-steering device, 61-fixed seat, 611-bearing, 612-arc elastic piece, 613-inflatable ring, 62-rotating body, 621-rotating shaft, 622-positioning gear, 623-epicyclic gear, 17-spraying device, 71-auxiliary booster pump, 72-nozzle, 73-spraying cover, 18-distance and angle detection device, 2-mooring rope, 21-mooring rope limiting device, 3-ground trolley, 31-mooring winch device, 32-controller and 33-liquid storage device.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In describing the present invention, it is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises" and/or "comprising," when used in this specification, are intended to specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. The term "and/or" includes any and all combinations of one or more of the associated listed items. The terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the invention and for simplicity in description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be construed as limiting the invention. The terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The terms "mounted," "connected," and "coupled" are to be construed broadly and may, for example, be fixedly coupled, detachably coupled, or integrally coupled; can be mechanically or electrically connected; the two elements may be directly connected or indirectly connected through an intermediate medium, or may be communicated with each other inside the two elements, or may be wirelessly connected or wired connected. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, it is to be understood that the term controller/control unit refers to a hardware device that includes a memory and a processor. The memory is configured as a memory module and the processor is specifically configured to execute the processes stored in the memory module to thereby execute one or more processes.
In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
Example 1
The present embodiment provides a painting robot, as shown in fig. 1, 2, and 6, including: the system comprises an unmanned aerial vehicle 1, a mooring rope 2 and a ground trolley 3; for example, the drone 1 is a quad-rotor drone or otherwise.
The unmanned aerial vehicle 1 comprises a spraying reaction force adjusting device, a four-rotor mounting seat 14, a telescopic long rod device 15, a steering device 16, a spraying device 17 and a distance and angle detection device 18; the four-rotor mounting base 14 is connected with four rotors of the unmanned aerial vehicle; the telescopic long rod device 15 is arranged right below the gravity center position of the four-rotor wing mounting seat 14, comprises a telescopic long rod and is used for driving the spraying device 17 to move back and forth along with the telescopic adjustment of the long rod; the steering device 16 comprises a fixed seat 61 and a rotating body 62, the fixed seat 61 is connected with one end of the telescopic long rod device 15, and the rotating body 62 is connected with the spraying device 17 and used for driving the spraying device 17 to rotate left and right along with the rotation adjustment of the rotating body 62; the spraying device 17 is used for spraying liquid for spraying; the spraying reaction force adjusting device is connected with the other end of the telescopic long rod device 15 and is used for generating a reaction force which is in a pair with the action force of the spraying device 17 on the unmanned aerial vehicle when spraying liquid; the distance and angle detection device 18 is mounted on the spraying device 17 and used for detecting the distance and angle between the surface to be sprayed and the spraying device 17, for example, an optical distance meter and the like can be selected; the mooring rope 2 comprises a mooring rope limiting device 21, and the mooring rope limiting device 21 is installed below the telescopic long rod device 15 right below the gravity center position of the four-rotor installation seat 14 and used for fixing the mooring rope 2 connected with the unmanned aerial vehicle 1; the mooring rope 2 is used for conveying power supplied by the unmanned aerial vehicle, transmitting control signals and conveying liquid for spraying; the ground trolley 3 is respectively connected with the spraying reaction force adjusting device, the telescopic long rod device 15, the steering device 16 and the spraying device 17 through the mooring rope 2, and is used for controlling the spraying reaction force adjusting device, the telescopic long rod device 15, the steering device 16 and the spraying device 17 and storing liquid for spraying.
Above-mentioned spraying robot adopts unmanned aerial vehicle mooring technology, and unmanned aerial vehicle and ground dolly use the energy cable to be connected promptly. The unmanned aerial vehicle is characterized in that the electric power, the supply of spraying cleaning media, the processing of control signals and the like of the unmanned aerial vehicle are all placed on a ground trolley, after control parameters are input into a controller, the controller of the ground trolley controls the ground trolley to run to a preset position through a GPS/Beidou positioning module and the like, and when the unmanned aerial vehicle takes off, a mooring winch device on the ground trolley controls a winding drum of the winch to release a mooring rope along with the take-off speed of the unmanned aerial vehicle through a tension controller; feeding the spraying liquid in the liquid storage device to the unmanned aerial vehicle spraying device by the ground trolley; the spraying device also synchronously opens the auxiliary booster pump carried by the spraying device when the ground trolley conveys spraying liquid, and the liquid is sprayed out from the spray head at the front end of the unmanned aerial vehicle to finish the cleaning or spraying action. Overcome the effort that spraying in-process shower nozzle spun liquid produced unmanned aerial vehicle through installing the spraying reaction force adjusting device at flexible stock device other end (unmanned aerial vehicle afterbody promptly). When the operation at the same height is finished, the unmanned aerial vehicle descends or ascends to continue the operation.
Preferably, as shown in fig. 1 and 2, the spraying reaction force adjusting device comprises a first propeller 11, a second propeller 12 and a third propeller 13; the first propeller 11 is installed at the tail of the other end of the telescopic long rod device 15 and used for generating forward reaction force; the second propeller 12 is installed on the left side of the other end of the telescopic long rod device 15 and used for generating a reaction force towards the right; the third propeller 13 is installed at the right side of the other end of the telescopic long-pole device 15 for generating a reaction force to the left. The direction along which the liquid is ejected is the forward direction, and the rear left direction along the ejection direction is the left direction and the right direction is the right direction. By combining the three propellers, the adjustable direction of the reaction force is enlarged, and the spraying device is suitable for multi-directional spraying.
Preferably, as shown in fig. 3 and 4, the fixing seat 61 of the steering device 16 includes a bearing 611, an arc-shaped elastic member 612 and an air-filled ring 613; the fixed seat 61 is provided with a vertical through hole, the bearing 611 is arranged in the through hole, and the fixed seat 61 and the rotating body 62 are connected through the bearing 611; the arc-shaped elastic piece 612 is made of elastic material, one end of the arc-shaped elastic piece is connected with the inner wall of the through hole, the other end of the arc-shaped elastic piece is a free movable end which is bent towards one end, and one end and the other end of the arc-shaped elastic piece surround to form a hook part which is used for expanding to contact the rotating body 62 and limiting the rotation of the rotating body when the arc-shaped elastic piece is stressed and stretched; the inflation ring 613 is located in the hook portion for inflation and deflation to expand or restore the hook portion to its original shape.
Preferably, the rotating body 62 includes a rotating shaft 621, a positioning gear 622, and an epicyclic gear 623; the rotating shaft 621 is connected in series to the bearing 611 and is used for driving the positioning gear 622 to rotate; the positioning gear 622 is sleeved at one end of the rotating shaft 621; the revolving gear 623 is engaged with the positioning gear 622 and rotates in the circumferential direction of the positioning gear 622 for driving the spraying device 17 connected thereto to rotate left and right therewith.
When the rotation of the spraying device 17 needs to be restricted after the spraying device 17 is rotated in place, as shown in fig. 4, the air-filling ring 613 is controlled to fill air to expand the hook portion of the arc-shaped elastic member 612 to contact the rotating shaft 621 and restrict the rotation of the rotating shaft 621, and when the spraying device 17 needs to be rotated again, the air-filling ring 613 is controlled to release air to restore the original shape of the arc-shaped elastic member 612. Generally, because the acting force generated during spraying is large, in order to avoid unnecessary rotation of the spraying device during spraying, the rotation of the spraying device can be limited during spraying by arranging the locking structure mainly consisting of the arc-shaped elastic piece and the inflatable ring, so that the spraying precision is improved. Through adopting arc elastic component and aerifing the circle, can adjust the aeration rate of aerifing the circle according to the produced different effort of shower nozzle injection liquid during the spraying to obtain the different deformation degree of arc elastic component, and then produce different brake force, prevent the excessive wearing and tearing of arc elastic component, increase of service life.
Preferably, as shown in fig. 5, the spray coating device 17 includes an auxiliary pressurizing pump 71, a spray head 72, and a spray cover 73; the auxiliary booster pump 71 is connected with the spray head 72 and is used for increasing the speed of the spray head 72 spraying liquid; the spray cover 73 is sleeved on the spray head 72 and used for limiting the spraying range of the liquid. Preferably, the distance and angle detecting device 18 is installed at the upper end surface position of the spray hood 73, and can detect the distance and the included angle between the end surface of the spray hood 73 and the surface to be sprayed. Through setting up supplementary booster pump, improved the spraying distance, enlarged application scope. Through setting up the spraying cover, prevent that the hydrojet from splashing everywhere, improved the spraying precision.
Preferably, the mooring line 2 comprises a power cable, a control cable and a medium transmission cable; the power cable is used for transmitting power supplied by the unmanned aerial vehicle; the control cable adopts an optical fiber cable and is used for transmitting a control signal; the medium conveying cable is used for conveying liquid for spraying. For example, the power cable is a 24V direct current power supply cable, the control cable uses a 0.8mm optical fiber communication cable, and the medium conveying cable uses a 12mm flexible rubber hose. Preferably, the outer tube of the mooring line 2 can be made of a hard flexible tube which is not easily deformed by pressure, and the liquid in the mooring line is not influenced when the mooring line is wound on the winding drum.
Preferably, as shown in fig. 6, the ground trolley 3 comprises a mooring winch 31, a controller 32 and a liquid storage device 33; the mooring winch 31 is used for winding and releasing the mooring rope 2 wound thereon; the controller 32 is used for automatically controlling the spraying reaction force adjusting device, the telescopic long rod device 15, the steering device 16, the spraying device 17, the mooring and winding device 31 and the liquid storage device 33; the reservoir 33 is used to store and deliver the liquid to be sprayed.
Above-mentioned spraying robot, because last power supply unit and the stock solution equipment of not loading of unmanned aerial vehicle, greatly reduced unmanned aerial vehicle weight, reduced the energy consumption, have the advantage that power is little, improved the attitude control precision to spraying precision has been improved. Through setting up flexible stock device, increased the spraying distance, enlarged application scope. The electric power supply is implemented through the ground trolley, so that the spraying robot has the advantage of long emptying time.
Example 2
Preparing spraying: after control parameters are input into the ground trolley controller, the ground trolley is controlled to run to a preset position through a GPS/Beidou positioning module and the like, and when the unmanned aerial vehicle takes off, a mooring winch device on the ground trolley controls a winding drum of the winch to release a mooring rope along with the take-off speed of the unmanned aerial vehicle through a tension controller; unmanned aerial vehicle flies to the feedback ground dolly behind the predetermined operating height, and the spraying liquid in the ground dolly control stock solution device is delivered to unmanned aerial vehicle spraying device through mooring rope.
After the spray preparation step is completed, the present embodiment provides a spray method that can be applied to the controller 32 to complete the spray. As shown in fig. 7, the spraying method includes the steps of:
s1, acquiring an included angle between the end face of the spray cover 73 and the surface to be sprayed, which is detected by the distance and angle detection device 18;
s2, judging whether the included angle between the end face of the spray cover 73 and the surface to be sprayed is 0; when the included angle between the end surface of the spray cover 73 and the surface to be sprayed is 0, the process goes to S3; when the included angle between the end surface of the spray cover 73 and the surface to be sprayed is not 0, the operation goes to S9;
s3, acquiring the distance between the end face of the spray cover 73 and the surface to be sprayed, which is detected by the distance and angle detection device 18;
s4, judging whether the distance between the end face of the spray cover 73 and the surface to be sprayed is larger than or equal to a safe flying distance, wherein the safe flying distance is the minimum distance from the unmanned aerial vehicle to the surface to be sprayed under the condition of meeting safe flying conditions; when the distance between the end surface of the spray cover 73 and the surface to be sprayed is greater than or equal to the safe flying distance, the operation goes to S5; when the distance between the end face of the spraying cover 73 and the surface to be sprayed is smaller than the safe flying distance, the posture of the unmanned aerial vehicle is adjusted to enable the unmanned aerial vehicle to fly in the direction far away from the surface to be sprayed until the unmanned aerial vehicle flies beyond the safe flying distance;
s5, judging whether the distance between the end face of the spray cover 73 and the surface to be sprayed is smaller than or equal to the maximum spraying distance, wherein the maximum spraying distance is the maximum distance which the spraying device 17 can spray liquid; when the distance between the end surface of the spray cover 73 and the surface to be sprayed is less than or equal to the maximum spraying distance, the process goes to step S6; when the distance between the end surface of the spray cover 73 and the surface to be sprayed is greater than the maximum spraying distance, the process goes to step S7;
s6, the auxiliary pressurizing pump 71 is controlled to be opened to spray the spray liquid from the spray head 72, and the first screw 11 is controlled to rotate to generate a forward reaction moment equal to the spray force moment.
Preferably, the spraying method further comprises the steps of:
s7, controlling the extension of the telescopic long rod device 15 to drive the spraying device 17 to move forward, so that the end face of the spraying cover 73 is positioned at a position where the distance between the end face and the surface to be sprayed is less than or equal to the maximum spraying distance;
s8, the auxiliary pressurizing pump 71 is controlled to be opened to spray the spray liquid from the spray head 72, and the first screw 11 is controlled to rotate to generate a forward reaction moment equal to the spray force moment.
Preferably, the spraying method further comprises the steps of:
s9, controlling the rotating shaft 621 to drive the positioning gear 622 to rotate so as to drive the revolving gear 623 to rotate circumferentially, enabling the spraying device 17 to rotate left and right until an included angle between the end face of the spraying cover 73 and a surface to be sprayed is 0, and recording the rotating direction and angle of the spraying device 17;
s10, controlling the inflating ring 613 to inflate to expand the hook portion of the arc-shaped elastic member 612 to contact the rotating shaft 621 and limit the rotation of the rotating shaft 621; when the rotating shaft 621 needs to control the rotation next time, the air charging ring 613 is deflated;
s11, acquiring the distance between the end face of the spray cover 73 and the surface to be sprayed, which is detected by the distance and angle detection device 18;
s12, judging whether the distance between the end surface of the spray cover 73 and the surface to be sprayed is larger than or equal to the safe flying distance; when the distance between the end surface of the spray cover 73 and the surface to be sprayed is greater than or equal to the safe flying distance, the operation goes to S13; when the distance between the end face of the spraying cover 73 and the surface to be sprayed is smaller than the safe flying distance, the posture of the unmanned aerial vehicle is adjusted to enable the unmanned aerial vehicle to fly in the direction far away from the surface to be sprayed until the unmanned aerial vehicle flies beyond the safe flying distance;
s13, judging whether the distance between the end surface of the spray cover 73 and the surface to be sprayed is smaller than or equal to the maximum spraying distance; when the distance between the end surface of the spray cover 73 and the surface to be sprayed is less than or equal to the maximum spraying distance, the process goes to S14; when the distance between the end surface of the spray cover 73 and the surface to be sprayed is greater than the maximum spraying distance, the operation goes to S15;
s14, the auxiliary pressurizing pump 71 is controlled to be opened to spray the spraying liquid from the spray head 72, and the combination of the first propeller 11 and the second propeller 12 or the combination of the first propeller 11 and the third propeller 13 is controlled to rotate according to the rotating direction and angle of the spraying device 17, so that the reaction force moment generated by the combination of the first propeller 11 and the second propeller 12 towards the front right or towards the front left is equal to the spraying force moment. Preferably, when the spraying device 17 is rotated to the left, the combination of the first propeller 11 and the third propeller 13 is controlled to rotate; when the spraying device 17 rotates to the right, the combination of the first propeller 11 and the second propeller 12 is controlled to rotate; so that the unmanned aerial vehicle is balanced and motionless when spraying, and the spraying precision is improved.
Preferably, the spraying method further comprises the steps of:
s15, controlling the extension of the telescopic long rod device 15 to drive the spraying device 17 to move forward, so that the end face of the spraying cover 73 is positioned at a position where the distance between the end face and the surface to be sprayed is less than or equal to the maximum spraying distance;
s16, the auxiliary pressurizing pump 71 is controlled to be opened to spray the spraying liquid from the spray head 72, and the combination of the first propeller 11 and the second propeller 12 or the combination of the first propeller 11 and the third propeller 13 is controlled to rotate according to the rotating direction and angle of the spraying device 17, so that the reaction force moment generated by the combination of the first propeller 11 and the second propeller 12 towards the front right or towards the front left is equal to the spraying force moment. Preferably, when the spraying device 17 is rotated to the left, the combination of the first propeller 11 and the third propeller 13 is controlled to rotate; when the spraying device 17 is rotated to the right, the combination of the first propeller 11 and the second propeller 12 is controlled to rotate
According to the spraying method, after the unmanned aerial vehicle is controlled to fly to reach the preset position, the included angle and the distance between the end face of the spraying cover and the surface to be sprayed are judged, so that the position of the spraying device is accurately adjusted, and the spraying precision is improved. And according to spray set's direction of rotation and angle, choose for use the different combinations in first, second, the third screw to produce suitable reaction force, unmanned aerial vehicle's stability when having guaranteed the spraying has further improved the spraying precision, has also enlarged the shape scope of the face of can spraying, has enlarged application scope.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications therefrom are within the scope of the invention.
Claims (3)
1. A painting robot, comprising: the system comprises an unmanned aerial vehicle (1), a mooring rope (2) and a ground trolley (3);
the unmanned aerial vehicle (1) comprises a spraying reaction force adjusting device, a four-rotor mounting seat (14), a telescopic long rod device (15), a steering device (16), a spraying device (17) and a distance and angle detection device (18);
the four-rotor mounting seat (14) is connected with four rotors of the unmanned aerial vehicle;
the telescopic long rod device (15) is arranged right below the gravity center position of the four-rotor wing mounting seat (14), comprises a telescopic long rod and is used for driving the spraying device (17) to move back and forth along with the telescopic adjustment of the long rod;
the steering device (16) comprises a fixed seat (61) and a rotating body (62), the fixed seat (61) is connected with one end of the telescopic long rod device (15), and the rotating body (62) is connected with the spraying device (17) and used for driving the spraying device (17) to rotate left and right along with the rotation adjustment of the rotating body (62);
the spraying device (17) is used for spraying liquid for spraying;
the spraying reaction force adjusting device is connected with the other end of the telescopic long rod device (15) and is used for generating a pair of reaction force to the action force of the unmanned aerial vehicle when the spraying device (17) sprays liquid;
the distance and angle detection device (18) is arranged on the spraying device (17) and is used for detecting the distance and angle between the surface to be sprayed and the spraying device (17);
the mooring rope (2) comprises a mooring rope limiting device (21), and the mooring rope limiting device (21) is installed below a telescopic long rod device (15) right below the gravity center position of the four-rotor mounting seat (14) and used for fixing the mooring rope (2) connected with the unmanned aerial vehicle (1); the mooring rope (2) is used for conveying power supplied by the unmanned aerial vehicle, transmitting control signals and conveying liquid for spraying;
the ground trolley (3) is respectively connected with the spraying reaction force adjusting device, the telescopic long rod device (15), the steering device (16) and the spraying device (17) through a mooring rope (2) and is used for controlling the spraying reaction force adjusting device, the telescopic long rod device (15), the steering device (16) and the spraying device (17) and storing liquid for spraying;
the spraying reaction force adjusting device comprises a first propeller (11), a second propeller (12) and a third propeller (13);
the first propeller (11) is arranged at the tail part of the other end of the telescopic long rod device (15) and is used for generating forward reaction force;
the second propeller (12) is arranged on the left side of the other end of the telescopic long rod device (15) and is used for generating a reaction force towards the right;
the third propeller (13) is arranged on the right side of the other end of the telescopic long rod device (15) and is used for generating a reaction force towards the left;
the fixed seat (61) of the steering device (16) comprises a bearing (611), an arc-shaped elastic piece (612) and an air charging ring (613);
a vertical through hole is formed in the fixed seat (61), a bearing (611) is installed in the through hole, and the fixed seat (61) is connected with the rotating body (62) through the bearing (611);
the arc-shaped elastic piece (612) is made of elastic material, one end of the arc-shaped elastic piece is connected with the inner wall of the through hole, the other end of the arc-shaped elastic piece is a free movable end which is bent towards one end, and one end and the other end of the arc-shaped elastic piece surround to form a bent hook part which is used for expanding to contact the rotating body (62) and limiting the rotating body to rotate when the arc-shaped elastic piece is stressed and stretched;
the inflation ring (613) is positioned in the hook part and used for inflating and deflating to expand or restore the hook part to the original shape;
the rotating body (62) comprises a rotating shaft (621), a positioning gear (622) and an epicyclic gear (623);
the rotating shaft (621) is connected in series on the bearing (611) and is used for driving the positioning gear (622) to rotate;
the positioning gear (622) is sleeved at one end of the rotating shaft (621);
the revolving gear (623) is meshed with the positioning gear (622), the revolving gear (623) rotates along the circumferential direction of the positioning gear (622), and the revolving gear is used for driving the spraying device (17) connected to the revolving gear (623) to rotate left and right along with the rotation of the revolving gear (623);
the spraying device (17) comprises an auxiliary booster pump (71), a spray head (72) and a spray cover (73);
the auxiliary booster pump (71) is connected with the spray head (72) and is used for increasing the speed of liquid sprayed out by the spray head (72);
the spray cover (73) is sleeved on the spray head (72) and used for limiting the spray range of the liquid;
the spraying method of the spraying robot comprises the following steps:
acquiring an included angle between the end face of the spray cover (73) and a surface to be sprayed, which is detected by the distance and angle detection device (18);
judging whether the included angle between the end surface of the spray cover (73) and the surface to be sprayed is 0;
when the included angle between the end surface of the spray cover (73) and the surface to be sprayed is 0, acquiring the distance between the end surface of the spray cover (73) and the surface to be sprayed, which is detected by the distance and angle detection device (18);
judging whether the distance between the end face of the spray cover (73) and the surface to be sprayed is larger than or equal to a safe flying distance, wherein the safe flying distance is the minimum distance from the unmanned aerial vehicle to the surface to be sprayed under the condition of meeting the safe flying condition;
when the distance between the end face of the spray cover (73) and the surface to be sprayed is greater than or equal to the safe flying distance, judging whether the distance between the end face of the spray cover (73) and the surface to be sprayed is less than or equal to the maximum spraying distance, wherein the maximum spraying distance is the maximum distance which can be sprayed by the liquid spraying device (17);
when the distance between the end surface of the spray cover (73) and the surface to be sprayed is smaller than or equal to the maximum spraying distance, the auxiliary booster pump (71) is controlled to be started to spray the spraying liquid from the spray head (72), and meanwhile, the first propeller (11) is controlled to rotate to generate forward reaction force moment equal to the spraying reaction force moment;
when the distance between the end surface of the spray cover (73) and the surface to be sprayed is greater than the maximum spraying distance, the telescopic long rod device (15) is controlled to extend to drive the spraying device (17) to move forwards, so that the end surface of the spray cover (73) is positioned at a position where the distance between the end surface of the spray cover and the surface to be sprayed is less than or equal to the maximum spraying distance;
controlling the auxiliary booster pump (71) to be opened to enable the spraying liquid to be sprayed out of the spray head (72), and simultaneously controlling the first propeller (11) to rotate to enable the forward reaction force moment generated by the first propeller to be equal to the spraying reaction force moment;
when the included angle between the end face of the spraying cover (73) and the surface to be sprayed is not 0, the rotating shaft (621) is controlled to drive the positioning gear (622) to rotate so as to drive the turnover gear (623) to rotate in the circumferential direction, the spraying device (17) rotates left and right until the included angle between the end face of the spraying cover (73) and the surface to be sprayed is 0, and the rotating direction and the rotating angle of the spraying device (17) are recorded;
controlling the inflation ring (613) to inflate to expand the hook part of the arc-shaped elastic piece (612) to contact the rotating shaft (621) and limit the rotation of the rotating shaft (621);
acquiring the distance between the end face of the spray cover (73) and the surface to be sprayed, which is detected by the distance and angle detection device (18);
judging whether the distance between the end surface of the spray cover (73) and the surface to be sprayed is greater than or equal to the safe flying distance;
when the distance between the end face of the spray cover (73) and the surface to be sprayed is greater than or equal to the safe flying distance, judging whether the distance between the end face of the spray cover (73) and the surface to be sprayed is less than or equal to the maximum spraying distance;
when the distance between the end surface of the spray cover (73) and the surface to be sprayed is smaller than or equal to the maximum spraying distance, the auxiliary booster pump (71) is controlled to be started to spray the spraying liquid from the spray head (72), and simultaneously, the combination of the first propeller (11) and the second propeller (12) or the combination of the first propeller (11) and the third propeller (13) is controlled to rotate according to the rotating direction and angle of the spraying device (17), so that the forward right or forward left reaction force moment generated by the first propeller is equal to the spraying force moment.
2. The painting robot according to claim 1, characterized in that the mooring rope (2) comprises a power cable, a control cable and a medium transport cable;
the power cable is used for transmitting power supplied by the unmanned aerial vehicle;
the control cable adopts an optical fiber cable and is used for transmitting a control signal;
the medium conveying cable is used for conveying liquid for spraying.
3. A painting robot according to claim 1 or 2, characterized in that the ground trolley (3) comprises a mooring winch (31), a controller (32) and a liquid storage device (33);
the mooring winch device (31) is used for winding and releasing the mooring rope (2) wound on the mooring winch device;
the controller (32) is used for automatically controlling the spraying reaction force adjusting device, the telescopic long rod device (15), the steering device (16), the spraying device (17), the mooring and winding device (31) and the liquid storage device (33);
the liquid storage device (33) is used for storing and outputting liquid for spraying.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010368752.9A CN111451057B (en) | 2020-05-02 | 2020-05-02 | Spraying robot and spraying method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010368752.9A CN111451057B (en) | 2020-05-02 | 2020-05-02 | Spraying robot and spraying method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111451057A CN111451057A (en) | 2020-07-28 |
| CN111451057B true CN111451057B (en) | 2021-07-27 |
Family
ID=71671185
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010368752.9A Active CN111451057B (en) | 2020-05-02 | 2020-05-02 | Spraying robot and spraying method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111451057B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112108304B (en) * | 2020-09-20 | 2021-07-27 | 陈利芳 | Floods scene rescue and uses unmanned aerial vehicle's assembly device |
| CN112273352B (en) * | 2020-10-26 | 2022-07-22 | 江苏大学 | Liquid medicine and electric energy multiplexing conveying device |
| CN112892944A (en) * | 2021-01-21 | 2021-06-04 | 江苏科技大学 | Unmanned aerial vehicle intelligent spraying device suitable for variable-curvature outer plate and dynamic adjustment method |
| CN112859870A (en) * | 2021-01-21 | 2021-05-28 | 江苏科技大学 | Follow-up intelligent vehicle system of unmanned aerial vehicle intelligent spraying system and control method |
| CN115350881B (en) * | 2022-09-30 | 2023-09-12 | 理工造船(鄂州)股份有限公司 | Automatic adjustment spraying process for ship surface spraying |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206822590U (en) * | 2017-01-13 | 2018-01-02 | 深圳市北航旭飞科技有限公司 | Unmanned plane cleaning systems |
| CN107842211A (en) * | 2017-12-15 | 2018-03-27 | 南京菱亚汽车技术研究院 | A kind of unmanned plane for cracking of wall surface reparation based on Internet of Things |
| CN108438227A (en) * | 2018-03-06 | 2018-08-24 | 西南交通大学 | Lateral spraying construction based on multi-rotor unmanned aerial vehicle flying platform |
| CN209142384U (en) * | 2018-11-05 | 2019-07-23 | 郭鸿儒 | It is tethered at unmanned plane fire-fighting system |
| CN209565116U (en) * | 2018-12-29 | 2019-11-01 | 江苏翔宇灌溉设备有限公司 | A kind of uniform flusher of sprinkling |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10384781B2 (en) * | 2017-05-30 | 2019-08-20 | Charles VanHaelst | Quadcopter pressure washer |
-
2020
- 2020-05-02 CN CN202010368752.9A patent/CN111451057B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN206822590U (en) * | 2017-01-13 | 2018-01-02 | 深圳市北航旭飞科技有限公司 | Unmanned plane cleaning systems |
| CN107842211A (en) * | 2017-12-15 | 2018-03-27 | 南京菱亚汽车技术研究院 | A kind of unmanned plane for cracking of wall surface reparation based on Internet of Things |
| CN108438227A (en) * | 2018-03-06 | 2018-08-24 | 西南交通大学 | Lateral spraying construction based on multi-rotor unmanned aerial vehicle flying platform |
| CN209142384U (en) * | 2018-11-05 | 2019-07-23 | 郭鸿儒 | It is tethered at unmanned plane fire-fighting system |
| CN209565116U (en) * | 2018-12-29 | 2019-11-01 | 江苏翔宇灌溉设备有限公司 | A kind of uniform flusher of sprinkling |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111451057A (en) | 2020-07-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111451057B (en) | Spraying robot and spraying method | |
| US11772814B2 (en) | System including a drone, a wire, and a docking station, enabling autonomous landings of the drones in degraded conditions | |
| US20200331633A1 (en) | Rotorcraft-assisted system and method for launching and retrieving a fixed-wing aircraft into and from free flight | |
| US11897628B2 (en) | Rotorcraft-assisted system for launching and retrieving a fixed-wing aircraft into and from free flight | |
| US11530036B2 (en) | Fixed-wing aerial underwater vehicle and control method thereof | |
| DK2673192T3 (en) | Flying object | |
| CN209037850U (en) | Unmanned vehicle | |
| US10589853B2 (en) | Unmanned aerial vehicle | |
| WO2017078118A1 (en) | Transportation device | |
| JP6524116B2 (en) | Flight robot equipment | |
| US11635772B2 (en) | Unmanned aerial vehicle with synchronized sensor network | |
| CN111374587A (en) | Glass cleaning robot and cleaning method | |
| JP2013079034A (en) | Rotorcraft for aerial photographing | |
| US10577119B2 (en) | System and apparatus for refueling aircraft from a watercraft | |
| US20160304213A1 (en) | System and Apparatus for Refueling Aircraft From a Watercraft | |
| CN212307692U (en) | Glass cleaning robot | |
| WO2021240506A1 (en) | Air vehicle and method for operating the air vehicle | |
| CN109703759A (en) | A kind of carrier vehicle | |
| KR20240011797A (en) | Long line loiter apparatus, system and method | |
| CN112224381B (en) | Variant airship and variant device | |
| CN206501993U (en) | A kind of lifebuoy is jettisoninged carry and unmanned plane | |
| CN218055631U (en) | Hang fixed wing aircraft of cabin folding and unfolding stability of goods that hangs in improvement | |
| WO2020008582A1 (en) | Image-capturing unmanned aerial vehicle equipped with suspension device | |
| KR102563256B1 (en) | Aircraft with a separate and detachable boarding space | |
| JP4462703B2 (en) | airship |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220607 Address after: No. 15, Songgang Avenue, Songgang street, Bao'an District, Shenzhen, Guangdong 518100 Patentee after: GUANGDONG KONGYIN INDUSTRY Co.,Ltd. Address before: 102200 2c608, courtyard 42, Qibei Road, Beiqijia Town, Changping District, Beijing Patentee before: BEIJING HUALANDE TECHNOLOGY CONSULTING SERVICE CO.,LTD. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230809 Address after: Room 608, Block C, Building 2, Yard 42, Qibei Road, Changping District, Beijing 102200 Patentee after: BEIJING HUALANDE TECHNOLOGY CONSULTING SERVICE CO.,LTD. Address before: No. 15, Songgang Avenue, Songgang street, Bao'an District, Shenzhen, Guangdong 518100 Patentee before: GUANGDONG KONGYIN INDUSTRY Co.,Ltd. |