CN112892944A - Unmanned aerial vehicle intelligent spraying device suitable for variable-curvature outer plate and dynamic adjustment method - Google Patents
Unmanned aerial vehicle intelligent spraying device suitable for variable-curvature outer plate and dynamic adjustment method Download PDFInfo
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- CN112892944A CN112892944A CN202110081160.3A CN202110081160A CN112892944A CN 112892944 A CN112892944 A CN 112892944A CN 202110081160 A CN202110081160 A CN 202110081160A CN 112892944 A CN112892944 A CN 112892944A
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- aerial vehicle
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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
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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
-
- 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
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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
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/68—Arrangements for adjusting the position of spray heads
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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
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses an intelligent spraying device of an unmanned aerial vehicle, which is suitable for a variable-curvature outer plate and comprises a flight control system, a spray rod, a steering engine, a flow valve and a nozzle, wherein the flight control system is arranged on the unmanned aerial vehicle and is used for controlling the steering engine; the spray rod is telescopic, and the distance between the nozzle and the variable-curvature outer plate is dynamically adjusted; the steering engine is arranged on the spray rod, and the angle of the nozzle is adjusted through the U-shaped frame; the flow valve is arranged on the spray rod and controls the output flow of the nozzle; the spray nozzle is arranged on the U-shaped frame of the steering engine, and the spray nozzle is connected with the spray rod through a high-pressure hose, so that the coating is transmitted, the spraying angle and the optimal spraying distance between the spray nozzle and the variable-curvature outer plate are ensured constantly, and the spraying quality is improved; the spraying efficiency of intelligent spraying of the unmanned aerial vehicle is greatly increased, and the spraying utilization rate is improved; the paint can be suitable for different paints according to different working pressures, can be suitable for various curved surface type outer plates, and particularly overcomes the defect of uneven spraying of complex curved surfaces.
Description
Technical Field
The invention relates to the field of spraying, in particular to an unmanned aerial vehicle intelligent spraying device suitable for a variable-curvature outer plate and a dynamic adjusting method.
Background
At present unmanned aerial vehicle spraying technology development is more slow, and especially when unmanned aerial vehicle carries out the spraying, the nozzle can not guarantee the perpendicular angle and the suitable spraying distance of nozzle and variable camber planking with the angular adjustment and the suitable spraying distance problem of variable camber planking, can not guarantee the quality, the efficiency and the coating utilization ratio of spraying.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide an unmanned aerial vehicle intelligent spraying device suitable for a variable-curvature outer plate, which is used for solving the problems.
The technical scheme is as follows: the invention relates to an intelligent unmanned aerial vehicle spraying device suitable for a variable-curvature outer plate, which comprises a flight control system, a spray rod, a steering engine, a flow valve and a nozzle, wherein the spray rod is connected with the spray rod;
the flight control system is arranged on the unmanned aerial vehicle and controls the steering engine;
the spray rod is telescopic, and the distance between the spray nozzle and the variable-curvature outer plate is dynamically adjusted;
the steering engine is arranged on the spray rod, and the angle of the spray nozzle is adjusted through the U-shaped frame;
the flow valve is arranged on the spray rod and used for controlling the output flow of the nozzle;
the nozzle is arranged on a U-shaped frame of the steering engine, and the nozzle is connected with the spray rod through a high-pressure hose, so that the coating is transmitted.
Further, the spray lance includes upper boom and lower beam, connects through the draw-in groove between upper boom and the lower beam, and the lower beam is connected with the revolute pair through the bearing, passes through threaded connection between revolute pair and the upper boom.
Further, the revolute pair is externally provided with a gear meshed with the motor, when the spray rod stretches out and draws back, the motor drives the gear pair to rotate through the gear so as to drive the upper rod to move, and the spray rod stretches out and draws back.
Further, the flow valve sets up in spray lance discharge gate department.
The purpose of the invention is as follows: the invention aims to provide a dynamic adjusting method of an unmanned aerial vehicle intelligent spraying device suitable for a variable-curvature outer plate, which is used for solving the problems.
The technical scheme is as follows: the invention relates to a dynamic adjustment method of an unmanned aerial vehicle intelligent spraying device suitable for a variable-curvature outer plate, which comprises the following steps of:
(1) the ground station carries out data analysis and calculation aiming at the path planning of the unmanned aerial vehicle, and solves the nozzle angle parameter;
(2) controlling a steering engine by using a PID (proportional Integral derivative) algorithm through a flight control system;
(3) the distance between the nozzle and the variable-curvature outer plate is changed through the telescopic spray rod to ensure the spraying quality through comprehensive judgment of feedback information of the steering engine and distance parameters of the nozzle and the variable-curvature outer plate in path planning;
when the distance between the nozzle and the variable-curvature outer plate is too far, the working pressure of the pump and the opening of the flow valve are intelligently regulated and controlled to ensure the spraying quality.
Furthermore, the ground station carries out data analysis and calculation on the path planning of the unmanned aerial vehicle to obtain the angle of the nozzle at each moment, and the angle is adjusted manually or according to the actual situation during simulation.
Furthermore, the PID control of the steering engine is intelligently controlled by combining with a control theory, the control theory comprises optimal control, neural network control, fuzzy control, self-adaptive control and an expert system, and the PID control is improved by utilizing the computing capability of a DSP (Digital Signal Processor) to form the expert PID system.
Further, the steering engine control system executes position control, the input control signal is a given pulse signal, when the steering engine position pulse signal detected by the potentiometer in the feedback information is deviated in comparison, the controller amplifies the deviation after adjusting the deviation, and drives the steering engine to adjust the position; the potentiometer as a feedback link is connected with the output shaft, feeds back the detected position signal to the input end, and compares the position signal with the input signal to realize closed-loop control.
Further, unmanned aerial vehicle is when the spraying of camber planking, unmanned aerial vehicle intelligence spraying nozzle dynamic adjustment passes through the steering wheel, flexible spray lance and flow valve are accomplished, wherein carry out angular adjustment through the steering wheel, when having distance error, compensate through motor drive flexible spray lance and intelligent control flow valve, guarantee the quality and the coating utilization ratio of spraying, when failing timely shortening nozzle and camber planking distance, carry out the distance compensation of nozzle and camber planking through flexible spray lance, keep the suitable spraying distance of nozzle and camber planking.
Has the advantages that: compared with the prior art, the invention has the advantages that: the intelligent spraying device and the dynamic adjusting method constantly ensure the spraying angle and the optimal spraying distance between the nozzle and the variable-curvature outer plate, and improve the spraying quality; the spraying efficiency of intelligent spraying of the unmanned aerial vehicle is greatly increased, and the spraying utilization rate is improved; the paint can be suitable for different paints according to different working pressures, can be suitable for various curved surface type outer plates, and particularly overcomes the defect of uneven spraying of complex curved surfaces.
Drawings
Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle intelligent spraying system comprising a spraying device;
FIG. 2 is a schematic view of the construction of the spray coating device;
FIG. 3 is a schematic view of the spray bar and the revolute pair;
FIG. 4 is a flow chart of the dynamic adjustment of the unmanned aerial vehicle intelligent spraying device suitable for a variable curvature outer plate;
fig. 5 is a system diagram of a steering engine.
Detailed Description
As shown in fig. 1 and 2, an intelligent unmanned aerial vehicle spraying device suitable for a variable-curvature outer plate comprises a flight control system, a spray rod 1, a steering engine 2, a flow valve 3 and a nozzle 4;
the flight control system is arranged on the unmanned aerial vehicle and controls the steering engine 2;
the spray rod 1 can stretch and retract, and the distance between the nozzle 4 and the variable-curvature outer plate is dynamically adjusted;
the steering engine 2 is arranged on the spray rod 1, and the angle of the nozzle 4 is adjusted through the U-shaped frame 5;
the flow valve 3 is arranged on the spray rod 1 and controls the output flow of the nozzle 4;
the nozzle 4 is arranged on a U-shaped frame 5 of the steering engine 2, and the nozzle 4 is connected with the spray rod 1 through a high-pressure hose, so that the coating is transmitted.
The spray rod 1 comprises an upper rod 6 and a lower rod 7, the upper rod 6 is connected with the lower rod 7 through a clamping groove, the lower rod 7 is connected with a revolute pair 8 through a bearing 9, and the revolute pair 8 is connected with the upper rod 6 through threads.
Gear 10 that sets up with the motor meshing is provided with outside the revolute pair 8, and when spray lance 1 stretches out and draws back, the motor passes through gear 10 and drives the gear pair rotation in order to realize revolute pair 8 and drive upper boom 6 and remove, and spray lance 1 accomplishes and stretches out and draws back.
As shown in fig. 1 to 5, a dynamic adjustment method for an intelligent spraying device of an unmanned aerial vehicle suitable for a variable-curvature outer plate includes the following steps:
(1) the ground station carries out data analysis and calculation aiming at the path planning of the unmanned aerial vehicle, and solves the angle parameter of the nozzle 4; the ground station carries out data analysis and calculation to the route planning of unmanned aerial vehicle, obtains the angle that 4 nozzles were located at every moment, according to actual conditions or carry out artifical adjustment during simulation.
Firstly, shooting and scanning the variable-curvature outer plate and the real scene by an unmanned aerial vehicle, carrying out three-dimensional modeling on the variable-curvature outer plate and the real scene based on the image, carrying out analysis and calculation on data according to the regularity of the shape of the variable-curvature outer plate, generating a spraying path plan, obtaining curvature change data of the variable-curvature outer plate, and obtaining the distance between the nozzle 4 and the variable-curvature outer plate. Through the analysis of the data, the angle that the nozzle 4 should be positioned at the optimal spraying distance at each moment is calculated, and the final data is transmitted to the sub-flight control system through the simulation of the system.
(2) The steering engine 2 is controlled by a flight control system through a PID (proportional Integral derivative) algorithm, the PID control of the steering engine 2 is intelligently controlled by combining a control theory, the control theory comprises optimal control, neural network control, fuzzy control, self-adaptive control and an expert system, and the PID control is improved by utilizing the computing power of a DSP (Digital Signal Processor) to form the expert PID system. Meanwhile, the flight control system processes the transmitted signals, transmits instructions to the steering engine 2 through a PID algorithm, processes data through a DSP, transmits the processed data to a motor in the steering engine 2, drives the U-shaped frame 5 to rotate, completes angle adjustment of the nozzle 4, transmits the adjusted position signals to an input end, judges whether errors exist or not, constantly ensures that the nozzle 4 and the variable-curvature outer plate keep a vertical angle, and at the moment, the angle of the nozzle 4 at the optimal spraying distance.
(3) The distance between the nozzle 4 and the variable-curvature outer plate is changed through the telescopic spray rod 1 to ensure the spraying quality through comprehensive judgment of feedback information of the steering engine 2 and distance parameters of the nozzle 4 and the variable-curvature outer plate in path planning; the steering engine 2 control system executes position control, an input control signal is a given pulse signal, when the pulse signal of the steering engine 2 detected by the potentiometer in feedback information is deviated in comparison, the controller amplifies the deviation after adjusting the deviation, and drives the steering engine 2 to adjust the position; the potentiometer as a feedback link is connected with the output shaft, feeds back the detected position signal to the input end, and compares the position signal with the input signal to realize closed-loop control. Referring to fig. 5, the power supply of the steering engine 2 and the flight control system share a control battery, and the power supply is provided by a servo battery alone. The servo control driver controls and drives the steering engine 2, and the power amplification circuit corresponds to the steering engine 2. The channel consists of a power amplifying circuit, a motor, a speed reducing transmission mechanism and a position sensor.
When the steering engine 2 works, a DSP control circuit of the servo control driver receives an instruction of a flight control system of the unmanned aerial vehicle and processes a feedback signal of a position sensor of the steering engine 2, a servo control algorithm is realized through software, after the feedback signal is input to a power amplification circuit in a PWM (Pulse-Width Modulation) wave form, a driving motor rotates according to a control rule, a speed reduction transmission mechanism amplifies torque and then swings the U-shaped frame 5, and required control force is generated to complete nozzle posture control. Meanwhile, the U-shaped frame 5 moves to drive the position sensor to form a closed loop feedback circuit, and relevant state information of the electric steering engine is returned to the flight control system through the DSP control circuit.
(4) When nozzle 4 is too far away from the variable camber planking distance, the operating pressure and the 3 openings of flow valve of intelligent control pump are in order to guarantee the spraying quality, unmanned aerial vehicle is when the spraying of camber planking, 4 dynamic adjustment of unmanned aerial vehicle intelligence spraying nozzle pass through steering wheel 2, flexible spray lance 1 and flow valve 3 are accomplished, wherein carry out angle adjustment through steering wheel 2, when having the distance error, compensate through motor drive flexible spray lance 1 and intelligent control flow valve 3, guarantee the quality and the coating utilization ratio of spraying, when failing timely shortening nozzle 4 and variable camber planking distance, carry out the distance compensation of nozzle 4 and variable camber planking through flexible spray lance 1, keep the suitable spraying distance of nozzle 4 and variable camber planking.
Claims (9)
1. An unmanned aerial vehicle intelligent spraying device suitable for a variable-curvature outer plate is characterized by comprising a flight control system, a spray rod, a steering engine, a flow valve and a nozzle,
the flight control system is arranged on the unmanned aerial vehicle and controls the steering engine;
the spray rod is telescopic, and the distance between the spray nozzle and the variable-curvature outer plate is dynamically adjusted;
the steering engine is arranged on the spray rod, and the angle of the spray nozzle is adjusted through the U-shaped frame;
the flow valve is arranged on the spray rod and used for controlling the output flow of the nozzle;
the nozzle is arranged on a U-shaped frame of the steering engine, and the nozzle is connected with the spray rod through a high-pressure hose, so that the coating is transmitted.
2. The unmanned aerial vehicle intelligence spraying device suitable for variable curvature planking of claim 1 characterized in that the spray lance includes upper boom and lower beam, connects through the draw-in groove between upper boom and the lower beam, and the lower beam is connected with the revolute pair through the bearing, passes through threaded connection between revolute pair and the upper boom.
3. The intelligent unmanned aerial vehicle spraying device suitable for the variable curvature planking of claim 1, characterized in that the revolute pair is provided with the gear that sets up with the motor meshing outside, and when the spray lance was stretched out and drawn back, the motor passed through the gear and drives gear pair rotation so that realize the revolute pair and drive the upper boom and move, the spray lance was accomplished and is stretched out and drawn back.
4. The intelligent unmanned aerial vehicle spraying device suitable for the variable curvature planking of claim 1, characterized in that the flow valve sets up at the spray lance discharge gate.
5. The dynamic adjustment method for the unmanned aerial vehicle intelligent spraying device suitable for the variable-curvature outer plate is characterized by comprising the following steps of:
(1) the ground station carries out data analysis and calculation aiming at the path planning of the unmanned aerial vehicle, and solves the nozzle angle parameter;
(2) controlling a steering engine by using a PID algorithm through a flight control system;
(3) the distance between the nozzle and the variable-curvature outer plate is changed through the telescopic spray rod to ensure the spraying quality through comprehensive judgment of feedback information of the steering engine and distance parameters of the nozzle and the variable-curvature outer plate in path planning;
(4) when the distance between the nozzle and the variable-curvature outer plate is too far, the working pressure of the pump and the opening of the flow valve are intelligently regulated and controlled to ensure the spraying quality.
6. The dynamic adjustment method of the intelligent spraying device of the unmanned aerial vehicle suitable for the variable curvature outer panel as claimed in claim 5, wherein in step 1, the ground station performs data analysis and calculation on the path plan of the unmanned aerial vehicle to obtain the angle of the nozzle at each moment, and the adjustment is performed according to the actual situation or manually during simulation.
7. The dynamic adjustment method of the unmanned aerial vehicle intelligent spraying device suitable for the variable curvature outer panel as claimed in claim 5, wherein in step 2, the PID control of the steering engine is intelligently controlled by combining with the control theory, the control theory comprises optimal control, neural network control, fuzzy control, self-adaptive control and an expert system, and the PID control is improved by utilizing the computing power of the DSP to form the expert PID system.
8. The dynamic adjustment method of the intelligent spraying device of the unmanned aerial vehicle suitable for the curvature-variable outer plate is characterized in that in the step 3, a steering engine executes position control, an input control signal is a given pulse signal, when the pulse signal of the steering engine position detected by a potentiometer in feedback information has deviation, a controller amplifies the deviation after adjusting the deviation, and drives the steering engine to adjust the position; the potentiometer as a feedback link is connected with the output shaft, feeds back the detected position signal to the input end, and compares the position signal with the input signal to realize closed-loop control.
9. The dynamic adjustment method of the intelligent spraying device of the unmanned aerial vehicle suitable for the variable-curvature outer plate as claimed in claim 5, wherein in step 4, when the unmanned aerial vehicle sprays the curvature outer plate, the dynamic adjustment of the intelligent spraying nozzle of the unmanned aerial vehicle is completed through a steering engine, a telescopic spray rod and a flow valve, wherein the angle adjustment is performed through the steering engine, when a distance error exists, the compensation is performed through a motor driving the telescopic spray rod and the intelligent regulation and control flow valve, the spraying quality and the paint utilization rate are ensured, when the distance between the nozzle and the variable-curvature outer plate cannot be shortened timely, the distance between the nozzle and the variable-curvature outer plate is compensated through the telescopic spray rod, and the proper spraying distance between the nozzle and.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110081160.3A CN112892944A (en) | 2021-01-21 | 2021-01-21 | Unmanned aerial vehicle intelligent spraying device suitable for variable-curvature outer plate and dynamic adjustment method |
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| CN202110081160.3A CN112892944A (en) | 2021-01-21 | 2021-01-21 | Unmanned aerial vehicle intelligent spraying device suitable for variable-curvature outer plate and dynamic adjustment method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115090456A (en) * | 2022-07-25 | 2022-09-23 | 山东街景智能制造科技股份有限公司 | Two-sided paint spraying apparatus of curved plate material |
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Application publication date: 20210604 |