CN112844916A - Unmanned aerial vehicle intelligence spraying system - Google Patents
Unmanned aerial vehicle intelligence spraying system Download PDFInfo
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- CN112844916A CN112844916A CN202110081339.9A CN202110081339A CN112844916A CN 112844916 A CN112844916 A CN 112844916A CN 202110081339 A CN202110081339 A CN 202110081339A CN 112844916 A CN112844916 A CN 112844916A
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- unmanned aerial
- aerial vehicle
- follow
- spraying
- trolley
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- 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
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- 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
- B05B12/084—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 condition of liquid or other fluent material already sprayed on the target, e.g. coating thickness, weight or pattern
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- 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
- B05B12/085—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 flow or pressure of liquid or other fluent material to be discharged
Abstract
The invention discloses an intelligent spraying system of an unmanned aerial vehicle, which comprises the unmanned aerial vehicle, a follow-up trolley, a Y-shaped supporting assembly, a spraying assembly, a material conveying assembly, a dynamic joint control system and a ground station. Wherein Y type supporting component detachably sets up in the unmanned aerial vehicle lower extreme, and Y type supporting component's center department is worn to locate by spraying component detachably, and defeated material subassembly sets up on the follow-up dolly, and defeated material subassembly passes through the conveying pipeline and is connected with spraying component. And the dynamic joint control system is used for controlling the power output and the pipeline winding and unwinding of the unmanned aerial vehicle and the follow-up trolley. The ground station is respectively in communication connection with the unmanned aerial vehicle, the follow-up trolley and the dynamic joint control system, and the ground station is used for data analysis and processing. According to above-mentioned technical scheme's unmanned aerial vehicle intelligence spraying system, ground satellite station plans unmanned aerial vehicle's spraying route according to spraying object data, promotes spraying efficiency. The dynamic joint control system realizes real-time linkage between the unmanned aerial vehicle and the follow-up trolley, ensures that the unmanned aerial vehicle and the follow-up trolley do not influence each other to move, and ensures the spraying quality.
Description
Technical Field
The invention relates to the field of unmanned spraying control, in particular to an unmanned aerial vehicle intelligent spraying system.
Background
The ship coating is a technological process for implementing ship coating protection in a ship construction technological process, is one of three large technological pillars of modern shipbuilding, and penetrates through the whole ship construction process. The painting of the inner and outer plates of the dock is used as the final painting of the whole ship, and the surface paint of the ship shell is sprayed on the ship before launching in the dock. The coating quality of the ship directly influences the maintenance cycle, the navigational speed and the service life of the ship, and the efficiency of the coating operation directly influences the construction cycle and the cost of the ship.
The basic coating modes at present comprise manual coating, wall-climbing robot coating and track frame robot coating, and the coating modes have the problems of high labor intensity of workers, low coating operation efficiency, poor adaptability of complex curved surfaces, easy scratch caused by primer grinding, complex construction, low intelligent degree and the like.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide an intelligent spraying system of an unmanned aerial vehicle, which solves the problems of low spraying efficiency, poor adaptability of complex curved surfaces, high labor intensity of workers, low intelligent degree and the like.
The technical scheme is as follows: an unmanned aerial vehicle; a follow-up trolley; the Y-shaped supporting assembly is detachably arranged at the lower end of the unmanned aerial vehicle; the spraying component is detachably arranged at the center of the Y-shaped supporting component in a penetrating manner; the material conveying component is arranged on the follow-up trolley and is connected with the spraying component through a material conveying pipe; the dynamic joint control system is used for controlling the power output and the pipeline retraction of the unmanned aerial vehicle and the follow-up trolley; and the ground station is in communication connection with the unmanned aerial vehicle, the follow-up trolley and the dynamic joint control system, and is used for analyzing and processing data.
Further, Y type supporting component includes two at least Y type supports and at least one auxiliary stand, the upper end of Y type support can be dismantled through single-pass fixing base and unmanned aerial vehicle bottom and be connected, the lower extreme of Y type support can be dismantled through oblique tee bend fixing base and unmanned aerial vehicle's undercarriage respectively and be connected, the upper end of auxiliary stand can be dismantled through single-pass fixing base and unmanned aerial vehicle bottom and be connected, the centre of Y type support with the lower extreme of auxiliary stand all is equipped with the sleeve, spraying component detachably wears to locate in the sleeve, the sleeve both ends are equipped with the bi-pass fixing base.
Further, the spraying subassembly includes spray lance, nozzle, automatic spray gun and universal camera, the nozzle reaches automatic spray gun set up respectively in the both ends of spray lance, universal camera set up in the spray lance is close nozzle one end, Y type supporting component's center department is worn to locate by spray lance detachably, automatic spray gun passes through the conveying pipeline with defeated material subassembly is connected, the nozzle can be relative the spray lance rotates.
Further, the spraying assembly further comprises a conveying pipe fixing device, the conveying pipe fixing device is detachably arranged on a cross bar of an unmanned aerial vehicle undercarriage, and the conveying pipe fixing device is used for enabling the conveying pipe to be perpendicular to the lower portion of the center of gravity of the unmanned aerial vehicle.
Further, the dynamic joint control system comprises: the unmanned aerial vehicle controller is arranged on the unmanned aerial vehicle and used for controlling the motion of the unmanned aerial vehicle; the gravity sensor is electrically connected with the unmanned aerial vehicle controller and used for measuring the gravity of the pipeline; the follow-up trolley controller is arranged on the follow-up trolley and is used for controlling the motion of the follow-up trolley; the distance sensor is respectively and electrically connected with the unmanned aerial vehicle controller and the follow-up trolley controller and is used for measuring the relative distance and angle between the follow-up trolley and the unmanned aerial vehicle; the pipeline winding and unwinding controller is used for controlling the automatic winding and unwinding device of the pipeline; the tension sensor is electrically connected with the pipeline winding and unwinding controller and used for measuring the tension of the pipeline; wherein the unmanned aerial vehicle controller, the follow-up car controller and the tension sensor are in communication connection with each other.
Further, the dynamic response time of the gravity sensor is less than or equal to 1 ms.
Further, the dynamic response time of the tension sensor is less than or equal to 2 ms.
Further, the dynamic response time of the dynamic joint control system is less than or equal to 2S.
Further, the distance sensor is infrared radar and/or ultrasonic radar, and the transmitting end and the receiving end of infrared radar and ultrasonic radar respectively with unmanned aerial vehicle controller and follow-up car controller electric connection.
Has the advantages that: compared with the prior art, the invention has the following advantages:
1. the spray gun is lifted to the air through the unmanned aerial vehicle, and the flight route of the unmanned aerial vehicle is set in advance, so that the spraying efficiency is improved.
2. Paint and electric power are conveyed through the follow-up trolley, the load of the unmanned aerial vehicle is reduced, and the cruising ability of the unmanned aerial vehicle is improved.
3. The universal camera is used for collecting the information of the spraying object, so that the intelligent planning of the spraying path can be realized, and the optimization of the spraying path and the compactness of a spraying coverage area can be realized.
4. The dynamic joint control system realizes real-time linkage of the unmanned aerial vehicle and the follow-up trolley, ensures that the unmanned aerial vehicle and the follow-up trolley cannot influence each other to move, ensures uniform motion of the unmanned aerial vehicle during spraying, and improves the spraying quality.
5. The spray head can reasonably adjust the pressure to convey the coating according to different height positions and different outer plate shapes, and the feeding pressure is adaptively adjusted, so that the coating thickness is uniform.
Drawings
Fig. 1 is a left side schematic view of an unmanned aerial vehicle intelligent spray system of an embodiment of the present invention;
fig. 2 is a right side schematic view of an unmanned aerial vehicle intelligent spray system of an embodiment of the present invention;
fig. 3 is a schematic bottom view of a drone of an embodiment of the present invention;
fig. 4 is a schematic side view of a drone of an embodiment of the present invention;
FIG. 5 is a schematic front view of a Y-shaped support assembly according to an embodiment of the invention;
fig. 6 is a schematic diagram of the dynamic joint control system of the present invention.
Detailed Description
The technical scheme of the invention is further explained by combining the attached drawings.
Referring to fig. 1 and 2, the intelligent spraying system for the unmanned aerial vehicle according to the embodiment of the invention comprises the unmanned aerial vehicle, a follow-up trolley, a Y-shaped support assembly 100, a spraying assembly 200, a material conveying assembly 300, a dynamic joint control system and a ground station. Wherein Y type supporting component 100 detachably sets up in unmanned aerial vehicle's lower extreme, and Y type supporting component 100's center department is worn to locate by spraying subassembly 200 detachably, and defeated material subassembly 300 sets up on the follow-up dolly, and defeated material subassembly 300 is connected with spraying subassembly 200 through the conveying pipeline. The dynamic joint control west and east is used for controlling power output and pipeline retraction of the unmanned aerial vehicle and the follow-up trolley, the ground station is in communication connection with the unmanned aerial vehicle, the follow-up trolley and the dynamic joint control system, the ground station is used for analyzing and processing data, a model of a spraying object is established, and a spraying path of the unmanned aerial vehicle is planned according to the model of the spraying object.
According to above-mentioned technical scheme's unmanned aerial vehicle intelligence paint finishing, ground station analysis data plans unmanned aerial vehicle's flight route, and unmanned aerial vehicle carries out the spraying of optimization and most accurate words according to the route that ground station planned, improves spraying efficiency. Coating and electric power are carried to the follow-up dolly, promote unmanned aerial vehicle's time of endurance when reducing unmanned aerial vehicle's load. The dynamic joint control system realizes real-time linkage of the unmanned aerial vehicle and the follow-up trolley, ensures that the set relative distance and angle are kept between the unmanned aerial vehicle and the follow-up trolley, does not influence each other, ensures uniform motion in the spraying process of the unmanned aerial vehicle, and further improves the spraying quality. Meanwhile, the components are detachably connected, so that the rapid loading and unloading are convenient, and the components can be respectively placed and stored, and are convenient to transport and store. Spraying subassembly 200 firmly supports on the unmanned aerial vehicle body through a plurality of triangle-shaped structures of Y type supporting component 100, guarantees not produce vibrations among the spraying process and to unmanned aerial vehicle's relative displacement, improves the spraying quality. Defeated material subassembly 300 can provide coating for spraying subassembly 200 subaerial, avoids unmanned aerial vehicle spraying material to use up the time waste that comes and goes the supply and cause, improves spraying efficiency.
Referring to fig. 2 to 5, in some embodiments, Y-shaped supporting component 100 includes at least two Y-shaped supports 110 and an auxiliary support 130, one corner of Y-shaped support 110 is upwards to be connected with the unmanned aerial vehicle bottom through one-way fixing base 120 detachably, the other both ends of Y-shaped support 110 are connected with the undercarriage of unmanned aerial vehicle detachably through two tee bend fixing bases 150 respectively, auxiliary support 130 sets up in the middle of two Y-shaped supports 110, the upper end is connected with the unmanned aerial vehicle bottom through one-way fixing base 120 detachably, auxiliary support 130 can share the weight of a part of spraying subassembly 200, further promote the fixed stability of spraying subassembly 200, promote the spraying quality. Referring to fig. 3, the middle of Y type support 110 and the lower extreme of auxiliary stand 130 are equipped with the sleeve, and spray assembly 200's spray lance 210 passes the sleeve and can dismantle with Y type supporting component 100 and be connected, and telescopic both ends all are equipped with bi-pass fixing base 140, and bi-pass fixing base 140 is used for preventing that spray assembly 200 from taking place the displacement relative unmanned aerial vehicle under the reaction force of spraying coating, causes the spraying thickness uneven.
In some embodiments, the Y-shaped support member 100 is made of carbon fiber material, and has high strength while being light in weight, and good corrosion resistance, high temperature resistance, and fatigue resistance. It will be appreciated that the spray bars 210 may have different length specifications, and that different lengths of spray bars 210 may be selected for installation depending on the spray application scenario.
Referring to fig. 1-3, in some embodiments, spray assembly 200 includes a spray bar 210, a spray nozzle 220, an automatic spray gun 230, and a universal camera 240. The spray nozzle 220 and the automatic spray gun 230 are respectively arranged at two ends of the spray bar 210, the universal camera 240 is arranged at one end of the spray bar 210 close to the spray nozzle 220, and the automatic spray gun 230 is connected with the paint conveying pipe of the material conveying assembly 300 through the material conveying pipe. In some embodiments, the nozzle 220 is an adaptive nozzle that can rotate freely within a certain range with respect to the spray bar, and an automatic valve is disposed in the automatic spray gun 230, and the automatic valve automatically opens and closes according to the pressure in the automatic spray gun 230. The universal camera 240 can move within the range of 180 degrees from top to bottom and from left to right, the universal camera 240 collects information of a spraying layout and feeds the information back to the controller, the controller adjusts parameters of the adaptive nozzle according to the information collected by the universal camera 240, the nozzle 220 is kept perpendicular to a sprayed curved surface subsection outer plate, the spraying thickness is guaranteed to be uniform, the spraying distance and the spraying width are guaranteed to be within a proper range, and the spraying quality is further improved.
In some embodiments, spray assembly 200 further includes a feed delivery pipe fixing device 250, where feed delivery pipe fixing device 250 is detachably disposed on a cross bar of the landing gear of the unmanned aerial vehicle, and feed delivery pipe fixing device 250 vertically fixes the feed delivery pipe below the center of gravity of the unmanned aerial vehicle, so as to prevent the unmanned aerial vehicle from turning on its side due to excessive coating weight. In this embodiment, the middle of the material conveying pipe fixing device 250 is provided with a vertical sleeve, and the material conveying pipe penetrates through the sleeve to be kept perpendicular to the lower part of the center of gravity of the unmanned aerial vehicle.
In some embodiments, the spray bar 210 has threads at both ends, and the spray nozzle 220 and the automatic spray gun 230 are connected to the spray bar 210 through the threads, so as to facilitate disassembly, assembly, replacement or cleaning.
Referring to fig. 1 and 2, in some embodiments, the feeding assembly 300 includes a paint hopper 310, a pressurizing pump 320, a paint delivery pipe, and an automatic pipe retraction device 330. The pressurizing pump 320 is connected with the coating bin 310, and the constant high pressure is directly applied to the coating in the coating bin 310 according to the set pressure value, so that the coating generates pressure in the automatic spray gun 230 and is atomized and sprayed out from the self-adaptive nozzle, air is not mixed in the spraying process, the spraying efficiency is high, and the spraying effect is more uniform. One end of the coating delivery pipe is connected with the automatic spray gun 230, the other end is connected with the coating bin 310, and the coating delivery pipe is wound on the automatic pipeline winding and unwinding device 330 and is wound and unwound under the control of the automatic pipeline winding and unwinding device 330. It can be understood that the automatic pipeline reeling and unreeling device 330 includes a tension sensor, a roller for winding the paint delivery pipe and a motor for driving the roller, and the controller controls the rotation of the motor and the torque of the motor according to the tension of the paint delivery pipe detected by the tension sensor, so that the paint delivery pipe is maintained in a tensioned state, and smooth transmission of the paint is ensured.
Referring to fig. 6, in some embodiments, the dynamic joint control system includes an unmanned aerial vehicle controller for controlling the movement of the unmanned aerial vehicle, a gravity sensor for measuring the gravity of the pipeline, a slave vehicle controller for controlling the movement of the slave vehicle, a distance sensor for measuring the relative distance and angle between the slave vehicle and the unmanned aerial vehicle, a pipeline deploying and retracting controller for controlling the pipeline deploying and retracting device, and a tension sensor for measuring the tension of the pipeline. Wherein gravity sensor and unmanned aerial vehicle controller electric connection, tension sensor and pipeline receive and release controller electric connection, distance sensor respectively with unmanned aerial vehicle controller and follow-up car controller electric connection. The unmanned aerial vehicle controller, the follow-up car controller and the tension sensor are in communication connection with each other. It can be understood that the unmanned aerial vehicle controller, the follow-up car controller and the pipeline deploying and retracting controller can adopt programmable controllers such as a DSP, a single chip microcomputer or a PLC. Infrared radar and/or ultrasonic radar etc. can be chooseed for use to distance sensor, infrared radar and ultrasonic radar's transmitting terminal and receiving terminal respectively with unmanned aerial vehicle controller and follow-up car controller electric connection, the transmitting terminal or the receiving terminal of infrared radar and ultrasonic radar can correspond receiving terminal or transmitting terminal in order to survey at certain angular range rotation before the operation at every turn.
In this embodiment, the follow-up car controller selects the singlechip for use, and PLC is all selected for use to unmanned aerial vehicle controller and pipeline receive and release controller. In order that the response time of the unmanned aerial vehicle intelligent spraying joint control system can meet the unmanned aerial vehicle intelligent spraying joint control method, in some embodiments, the dynamic response time of the tension sensor needs to be less than or equal to 2ms, the dynamic response time of the gravity sensor needs to be less than or equal to 1ms, and the dynamic response time of the whole dynamic joint control system needs to be less than or equal to 2S
In some embodiments, the dynamic joint control system implements joint control of the unmanned aerial vehicle and the follow-up trolley by using a joint control method including a vertical joint control process and a horizontal joint control process which are performed simultaneously, wherein the vertical joint control process includes the following steps:
step 100: the gravity sensor measures the pipeline gravity of the unmanned aerial vehicle load, and the tension sensor measures the pipeline tension value;
step 110: controlling the pipeline winding and unwinding device to wind and unwind the pipeline according to the pipeline tension numerical value so as to keep the pipeline in a tensioning state;
step 120: adjusting the power output of the unmanned aerial vehicle according to the change of the gravity of the pipeline, so that the unmanned aerial vehicle keeps moving at a constant speed;
the horizontal direction joint control process comprises the following steps:
step 200: the distance sensor measures the relative distance and angle between the follow-up trolley and the unmanned aerial vehicle;
step 210: and adjusting the speed of the follow-up trolley according to the relative distance and angle to maintain the distance and angle between the follow-up trolley and the unmanned aerial vehicle at a preset distance and angle.
According to above-mentioned technical scheme's joint control method, adjust unmanned aerial vehicle's power take off according to the change of gravity sensor measuring pipeline gravity, when unmanned aerial vehicle rises or descends, pipeline gravity can follow and increase or reduce, changes through the cooperation pipeline gravity and adjusts unmanned aerial vehicle's power take off, can keep unmanned aerial vehicle's uniform motion, and then keeps unmanned aerial vehicle spraying process even. The pipeline winding and unwinding device arranged on the follow-up trolley controls the winding and unwinding of the pipeline according to the pipeline tension measured by the tension sensor, the pipeline tension is kept within a proper range, and the pipeline is prevented from blocking the motion of the unmanned aerial vehicle. Follow-up dolly passes through distance sensor measurement and unmanned aerial vehicle's relative distance and angle to the power of adjustment follow-up dolly adaptively, and then adjustment dolly speed keeps relative distance and the angle between follow-up dolly and the unmanned aerial vehicle to maintain on the default, and unmanned aerial vehicle motion is followed to intelligence, further guarantees pipeline tension's stability. The joint control method ensures that the unmanned aerial vehicle can keep an even speed no matter ascending or horizontal moving in the spraying process, and ensures the uniformity of the spraying thickness.
It can be understood that the power of the unmanned aerial vehicle and the follow-up trolley realizes stepless speed regulation of each driving motor through the motor driving module.
In some embodiments, the step 110 of automatically deploying and retracting the pipeline by the pipeline deploying and retracting device (330) is controlled by: if the tension value of the pipeline is larger than the maximum value of the preset threshold range, controlling the automatic pipeline winding and unwinding device (330) to pay off; and if the pipeline tension value is smaller than the minimum value of the preset threshold range, controlling the automatic pipeline winding and unwinding device (330) to wind up. In this embodiment, the maximum value of the preset threshold range is 50N, and the minimum value of the preset threshold range is 1N, and in the actual use process, the preset threshold range may be adaptively adjusted according to factors such as the material of the pipeline.
In some embodiments, step 120 includes the steps of:
step 121: calculating a pipeline gravity change value between the last two times of sampling of the gravity sensor;
step 122: calculating a power output change value of the unmanned aerial vehicle according to the pipeline gravity change value, and if the pipeline gravity is reduced, reducing the power output of the unmanned aerial vehicle by the power output change value; if the gravity of the pipeline is increased, the power output of the unmanned aerial vehicle is increased by a power output change value.
By the method, the power of the unmanned aerial vehicle and the gravity of the pipeline are increased and decreased simultaneously, the stress condition of the unmanned aerial vehicle is guaranteed to be stable, the moving speed of the unmanned aerial vehicle is further guaranteed to be constant, or the unmanned aerial vehicle is guaranteed to hover stably, the state of the unmanned aerial vehicle is guaranteed to be stable in the spraying process, and the spraying quality is guaranteed.
In some embodiments, step 210 includes the steps of:
step 211: comparing the relative distance and angle with a preset distance and angle, and adjusting the speed of the follow-up trolley to enable the relative distance and angle between the follow-up trolley and the unmanned aerial vehicle to be equal to the preset distance and angle;
step 212: the speed of the follow-up trolley is changed along with the unmanned aerial vehicle.
When the relative distance and the angle of the follow-up trolley returned by the distance sensor and the unmanned aerial vehicle are not equal to the preset values, the follow-up trolley is firstly controlled to accelerate or decelerate, so that the distance and the angle between the follow-up trolley and the unmanned aerial vehicle are equal to the preset values, and then the follow-up trolley and the unmanned aerial vehicle are controlled to have the same speed, so that the follow-up trolley can stably follow the unmanned aerial vehicle to move. It can be understood that the preset values of the distance and the angle between the follow-up trolley and the unmanned aerial vehicle can be set manually, and can also be calculated by the spraying position through a calculation algorithm. The follow-up trolley can adopt a PID algorithm or other self-adaptive follow-up algorithms to keep a fixed distance and angle between the follow-up trolley and the unmanned aerial vehicle.
In some embodiments, the ground station plans the spray path of the drone by: firstly, the spraying unmanned aerial vehicle acquires images of spraying objects such as ship planking through the universal camera 240 and transmits the acquired images to a ground station; then, the ground station carries out three-dimensional reverse modeling on the acquired image, divides a ship outer plate model according to the regularity of the shape, and divides a ship outer plate into a plane, a regular curved surface and a complex curved surface; the ground station carries out the flying times and spraying path planning of the spraying unmanned aerial vehicle on the plane, the regular curved surface and the complex curved surface respectively, and generates spraying operation parameters of the unmanned aerial vehicle; and finally, the ground station sends the spraying path and the spraying operation parameters to the unmanned aerial vehicle and the controller of the follow-up trolley, and the unmanned aerial vehicle controls the unmanned aerial vehicle to move and controls the nozzle 220 to work according to the spraying path so as to complete the spraying task.
Claims (10)
1. The utility model provides an unmanned aerial vehicle intelligence paint finishing, its characterized in that includes:
an unmanned aerial vehicle;
a follow-up trolley;
the Y-shaped supporting assembly (100) is detachably arranged at the lower end of the unmanned aerial vehicle;
the spraying component (200) is detachably arranged at the center of the Y-shaped supporting component (100) in a penetrating way;
the material conveying component (300) is arranged on the follow-up trolley, and the material conveying component (300) is connected with the spraying component (200) through a material conveying pipe;
the dynamic joint control system is used for controlling the power output and the pipeline retraction of the unmanned aerial vehicle and the follow-up trolley;
and the ground station is in communication connection with the unmanned aerial vehicle, the follow-up trolley and the dynamic joint control system, and is used for analyzing and processing data.
2. The intelligent spraying system for unmanned aerial vehicles of claim 1, wherein the Y-shaped support assembly (100) comprises at least two Y-shaped supports (110) and at least one auxiliary support (130), the upper end of the Y-shaped support (110) is detachably connected with the bottom of the unmanned aerial vehicle through a single-pass fixing seat (120), the lower end of the Y-shaped support (110) is detachably connected with the landing gear of the unmanned aerial vehicle through an inclined tee fixing seat (150), the upper end of the auxiliary support (130) is detachably connected with the bottom of the unmanned aerial vehicle through a single-pass fixing seat (120), the middle of the Y-shaped support (110) and the lower end of the auxiliary support (130) are both provided with sleeves, the spraying assembly (200) is detachably arranged in the sleeves in a penetrating manner, and two ends of the sleeves are provided with two-pass fixing seats (140).
3. The unmanned aerial vehicle intelligent spraying system of claim 1, wherein the spraying assembly (200) comprises a spray bar (210), a spray nozzle (220), an automatic spray gun (230) and a universal camera (240), the spray nozzle (220) and the automatic spray gun (230) are respectively arranged at two ends of the spray bar (210), the universal camera (240) is arranged at one end of the spray bar (210) close to the spray nozzle (220), the spray bar (210) is detachably arranged at the center of a Y-shaped support assembly (100) in a penetrating manner, the automatic spray gun (230) is connected with the material conveying assembly (300) through the material conveying pipe, and the spray nozzle (220) can rotate relative to the spray bar (210).
4. The unmanned aerial vehicle intelligent spraying system of claim 3, wherein the spraying assembly (200) further comprises a feed delivery pipe fixing device (250), the feed delivery pipe fixing device (250) is detachably arranged on a cross bar of an unmanned aerial vehicle undercarriage, and the feed delivery pipe fixing device (250) enables the feed delivery pipe to be perpendicular to the position below the center of gravity of the unmanned aerial vehicle.
5. The intelligent unmanned aerial vehicle spraying system of claim 1, wherein the material conveying assembly (300) comprises a paint bin (310), a pressure pump (320), a paint conveying pipe and an automatic pipeline winding and unwinding device (330), the pressure pump (320) is connected with the paint bin (310), one end of the paint conveying pipe is connected with the paint bin (310), the other end of the paint conveying pipe is connected with the conveying pipe, and the paint conveying pipe is wound on the automatic pipeline winding and unwinding device (330).
6. The unmanned aerial vehicle intelligent spraying system of claim 1, wherein the dynamic joint control system comprises:
the unmanned aerial vehicle controller is arranged on the unmanned aerial vehicle and used for controlling the motion of the unmanned aerial vehicle;
the gravity sensor is electrically connected with the unmanned aerial vehicle controller and used for measuring the gravity of the pipeline;
the follow-up trolley controller is arranged on the follow-up trolley and is used for controlling the motion of the follow-up trolley;
the distance sensor is respectively and electrically connected with the unmanned aerial vehicle controller and the follow-up trolley controller and is used for measuring the relative distance and angle between the follow-up trolley and the unmanned aerial vehicle;
the pipeline winding and unwinding controller is used for controlling the automatic winding and unwinding device (330) of the pipeline;
the tension sensor is electrically connected with the pipeline winding and unwinding controller and used for measuring the tension of the pipeline;
wherein the unmanned aerial vehicle controller, the follow-up car controller and the tension sensor are in communication connection with each other.
7. The unmanned aerial vehicle intelligent spray system of claim 6, wherein the dynamic response time of the gravity sensor is less than or equal to 1 ms.
8. The unmanned aerial vehicle intelligent spray system of claim 6, wherein the dynamic response time of the tension sensor is less than or equal to 2 ms.
9. The unmanned aerial vehicle intelligent spraying system of claim 6, wherein the dynamic response time of the dynamic joint control system is less than or equal to 2S.
10. The intelligent unmanned aerial vehicle spraying system of claim 6, wherein the distance sensor is an infrared radar and/or an ultrasonic radar, and a transmitting end and a receiving end of the infrared radar and the ultrasonic radar are electrically connected with the unmanned aerial vehicle controller and the follow-up car controller respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202110081339.9A CN112844916A (en) | 2021-01-21 | 2021-01-21 | Unmanned aerial vehicle intelligence spraying system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110081339.9A CN112844916A (en) | 2021-01-21 | 2021-01-21 | Unmanned aerial vehicle intelligence spraying system |
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| CN112844916A true CN112844916A (en) | 2021-05-28 |
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| CN202110081339.9A Pending CN112844916A (en) | 2021-01-21 | 2021-01-21 | Unmanned aerial vehicle intelligence spraying system |
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2021
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