KR101854371B1 - Unmanned aerial vehicle for painting and controlling method for the same - Google Patents

Abstract

There is provided a unmanned aerial vehicle for a paint job and a control method for controlling the unmanned aerial vehicle for such a painting operation, which can be precisely controlled even when a disturbance occurs. The unmanned aerial vehicle for painting work comprises at least one propulsion unit which is formed in a main body and a main body and generates a thrust to float the main body in the air, a plurality of injection nozzles installed in the main body and controlled independently of each other, And a control unit for transmitting a control signal to the injection nozzle.

Description

Technical Field [0001] The present invention relates to an unmanned aerial vehicle for a painting operation,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a control method for a unmanned aerial vehicle for painting work and an unmanned aerial vehicle for painting work.

Generally, in order to do painting work on a high position such as a ship or an outer wall of a high-rise building, an operator is required to work on a high-altitude vehicle, or a place where the use of a high- And is doing painting work.

However, there is a problem that when a worker rides on a high-altitude vehicle and performs painting work, the worker's motion is not free, and the worker must work at a high position.

In addition, when the patriarch is installed and painted, the time required for installing the patriarch is increased, and the cost and labor cost of installing the patriarch are generated.

In addition, as it goes up to a high place for painting, it is vulnerable to disturbance, and position control is difficult, so that it is difficult to precisely paint, and it is difficult to control the spraying part.

Korean Patent Laid-Open No. 10-2012-0109959, (2012.10.09)

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and it is an object of the present invention to provide a control method for controlling a unmanned aerial vehicle for a paint job and a unmanned aerial vehicle for a paint job, .

The technical problem of the present invention is not limited to the above-mentioned problems, and another technical problem which is not mentioned can be clearly understood by those skilled in the art from the following description.

According to an aspect of the present invention, there is provided an unmanned flying object for a painting operation, At least one propulsion unit formed in the main body and generating thrust to float the main body in the air; A plurality of spray nozzles installed in the main body and controlled independently of each other to spray paint onto a target object; And a control unit for transmitting a control signal to the propulsion unit and the injection nozzle.

The control signal may operate only the injection nozzle in which the spray region of the paint among the plurality of the spray nozzles is within the paint region of the object.

The camera unit may further include a camera unit, which is formed in the main body, and photographs an injection area of the paint sprayed by the injection nozzle to generate a video signal.

The control unit may operate only the injection nozzles of the plurality of the spray nozzles whose ejection regions of the paint are within the paint region of the object when the main body moves by disturbance.

The injection nozzles may be arranged in a square shape.

And a tube connected to the injection nozzle to supply the paint and extending outside the body.

A control method for an unmanned aerial vehicle for a painting work comprising a plurality of injection nozzles for spraying paint onto a target object, comprising the steps of: (A) recognizing an image signal photographed through a camera unit installed on an unmanned air vehicle, ; (B) controlling the propulsion unit to bring the unmanned air vehicle close to the painting area; And (C) operating at least one of the injection nozzles corresponding to the injection region of the plurality of injection nozzles in the paint region.

(D), when the unmanned aerial vehicle moves due to disturbance after the step (C), the image signal is discriminated and the spraying nozzle of the plurality of the spraying nozzles out of the coating area is stopped As shown in FIG.

In the step (D), only the injection nozzle corresponding to the injection area of the plurality of the injection nozzles corresponding to the injection area of the object may be operated.

Wherein, after the step (D), the propulsion unit is controlled to bring the unmanned air vehicle close to the painting area and the jetting area of the plurality of jetting nozzles operates at least one of the jetting nozzles in the painting area E). ≪ / RTI >

The unmanned aerial vehicle for painting according to the present invention can minimize the time required for the operation because it does not require installation of a high-altitude vehicle and a chief, even if a painting operation is performed at a high position, and can reduce the cost of installing the chief and the labor cost.

In addition, the unmanned aerial vehicle for painting according to the present invention can perform precise painting work without being influenced by disturbance, minimize the possibility of occurrence of a fall accident and a safety accident, .

In addition, by using the control method of the unmanned aerial vehicle for painting work according to the present invention, it is possible to precisely paint work by spraying paint only at a specific position even when disturbance occurs, and it is advantageous in that it can be controlled wirelessly.

FIG. 1 is a view schematically showing a state in which an unmanned aerial vehicle for painting operation works according to an embodiment of the present invention.
Fig. 2 is a perspective view of the unmanned aerial vehicle for painting work of Fig. 1;
3 is a block diagram showing the configuration of the unmanned aerial vehicle for painting in FIG.
FIG. 4 is a perspective view showing a spray nozzle for spraying paint on the unmanned aerial vehicle for painting work of FIG. 3;
5 is a flowchart illustrating a method for controlling a unmanned aerial vehicle for a painting operation according to an embodiment of the present invention.
FIG. 6 is an operation diagram illustrating the operation of the unmanned aerial vehicle for painting in FIG. 1;

BRIEF DESCRIPTION OF THE DRAWINGS The advantages and features of the present invention and methods for achieving them will become apparent with reference to the embodiments described in detail below with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the invention to those skilled in the art. To fully disclose the scope of invention to a person skilled in the art, and the invention is only defined by the claims. Like reference numerals refer to like elements throughout the specification.

Hereinafter, a method for manufacturing an unmanned aerial vehicle for painting and an unmanned aerial vehicle for painting according to an embodiment of the present invention will be described in detail with reference to FIGS. 1 to 6. FIG.

The unmanned aerial vehicle (1) for painting according to the present invention is a device for spraying paint (P) in a high altitude area where painting is difficult, and is used where painting work such as a ship or an outer wall of a high-rise building is required.

The unmanned aerial vehicle 1 for painting operation can precisely control even if disturbance occurs in a high area and recognizes an area to spray the paint P and has a plurality of spray nozzles 30 for spraying the paint P Each can be controlled and a precise painting result can be obtained.

Hereinafter, an unmanned aerial vehicle for a painting operation according to an embodiment of the present invention will be described in detail with reference to FIGS. 1 to 4. FIG.

FIG. 1 is a view schematically showing a configuration of an unmanned aerial vehicle for a painting operation according to an embodiment of the present invention, and FIG. 2 is a perspective view of a unmannurized air vehicle for painting in FIG. 1.

The unmanned aerial vehicle 1 according to the present invention is a device capable of performing positional control in a high altitude area and capable of performing precise painting operations and includes a main body 10, a propulsion unit 20, an injection nozzle 30, and a control unit 40 ).

The main body 10 forms a frame of the unmanned flying object 1 for painting, and the shape and size of the main body 10 can be variously formed. The main body 10 is provided with a propulsion unit 20 and a camera unit 50 on the outside thereof and can receive the injection nozzle 30 and the control unit 40 therein.

At least one propulsion unit 20 is formed on the outer surface of the main body 10 to generate a thrust to float the main body 10 and generate lift by the rotor so that the propulsion unit 20 floats in the air, Such as by blowing the fluid of a very high velocity into the air and flooding it in the air. In this specification, the propulsion unit 20 will be described as an example of a rotor which is formed on the side surface of the main body 10 and generates thrust.

The propulsion unit 20 is a device for generating thrust, and is formed so that a pair of rotors are opposed to the side surface of the main body 10, but may be formed by modifying the number of rotors, the length of the connecting member, and the size of the propeller. The propulsion unit 20 can be controlled or operated by receiving a control signal from the control unit 40. [ The propulsion unit 20 generates a thrust, and when the main body 10 is floated in the air, the paint P may be sprayed from the spray nozzle 30. [

The spray nozzle 30 can be installed inside the main body 10 by spraying the paint P onto a target object A requiring painting work such as an outer surface of a ship or an outer wall of a building. Paint (P) may be varnish, paint or the like as a material to be painted on the outside, such as an object, a building, or a ship. A plurality of nozzles for spraying the paint P may be installed in the inside of the main body 10 in a square form. The dustproof type shown in the present specification refers to a form in which a plurality of spray nozzles 30 are installed on the main body 10 so as to be spaced apart from each other in the horizontal, vertical, and diagonal directions. The number of the injection nozzles 30 installed in the main body 10 is not limited and may be formed inside the main body 10 but at least a part thereof may be exposed to the outside of the main body 10. The tube 31 extending to the outside of the main body 10 receives the paint P from the paint P accommodating portion (not shown) and supplies the paint P to the injection nozzle 30, 30) can spray the paint (P) onto the object (A). The plurality of injection nozzles 30 for spraying the paint P can be independently controlled. That is, the spraying area of the paint P is confirmed by the camera unit 50, and only the spraying nozzles 30 corresponding to the spraying area B can selectively operate to spray the paint P. This will be described later.

The camera unit 50 is an apparatus for photographing an injection area of the paint P sprayed by the spray nozzle 30 formed on the upper part of the main body 10 and generates an image signal of the spray area of the picked paint P can do. The camera unit 50 can recognize the paint area B of the object A in the high-altitude area by the thrust of the propulsion unit 20 and shoot the spray area of the paint P in the paint area B So that a video signal can be generated. At this time, if the position of the painting area B photographed by the camera unit 50 changes, it is possible to recognize that the disturbance has occurred in the control unit 40 or the control unit (see 60 in Fig. 3) have.

The control unit 40 is a device for transmitting a control signal to the propulsion unit 20 and the injection nozzle 30. The control unit 40 can recognize the occurrence of the disturbance by discriminating the video signal photographed by the camera unit 50. If the position of the main body 10 is changed by discriminating the video signal, Only the injection nozzle 30 corresponding to the spray area of the paint P within the paint area B of the object A can be operated. Hereinafter, this will be described in detail later.

Hereinafter, a control method between the unmanned aerial vehicle configuration for painting work will be described with reference to FIG.

3 is a block diagram showing the configuration of the unmanned aerial vehicle for painting in FIG.

3, the camera unit 50, the injection nozzle 30, the propulsion unit 20 and the control unit 40, which are formed on the main body 10 of the artificial manned unmannurized object 1, And the control unit 60 can be formed outside the main body 10. [0050]

The control unit 60 controls the driving of the unmanned air vehicle 1, and various control means equipped with a microprocessor may be used. On the outer surface of the control unit 60, a display unit (not shown) for displaying an image to be photographed by the camera unit may be displayed. The display unit can display images captured by the unmanned aerial vehicle (1) in real time. In addition, the coating area B of the object A can be confirmed through a control unit (not shown), and the injection nozzle 30 and the propulsion unit 20 can be controlled through the control unit (not shown). In addition, a control signal is automatically transmitted to the control unit 40 through wireless communication to control each component formed in the main body 10. [

The control unit 40 receives a control signal from the control unit 60 and can transmit the control signal to the propulsion unit 20 and the injection nozzle 30 and is formed inside the main body 10 to perform a communication function. The control unit 40 may generate a control signal in the main body 10 or may generate a control signal through wireless communication from the outside. When the camera unit 50 recognizes the painting area B of the object A, the control unit 60 sends a control signal to the control unit 40. The control unit 40 sends a control signal to the injection nozzle 30, So that the paint P can be sprayed onto the painting area B. When the camera unit 50 recognizes a position deviating from the painting area B, the control unit 40 transmits a control signal to the spray nozzle 30 to control the spray nozzle 30 for spraying the paint P, Can stop. In this way, the control unit 40 can recognize the image signal photographed by the camera unit 50 and control the injection nozzle 30 and the propulsion unit 20, respectively. This will be described later in detail.

Hereinafter, the spray nozzle which can be controlled individually will be described with reference to FIG.

FIG. 4 is a perspective view showing a spray nozzle for spraying paint on the unmanned aerial vehicle for painting work of FIG. 3;

Referring to FIG. 4, the spray nozzle 30 for spraying the paint P is sprayed in a spray form from one spray nozzle 30 as shown in FIG. 4, so that the spray area is enlarged to be coated on the object A . As a result, the paint P can be sprayed from all the spray nozzles 30, but the paint P can be sprayed by selecting the spray nozzle 30 selectively.

In addition, the injection nozzles 30 can be independently controlled, and even when an error occurs in the position of the main body 10 due to the external environment, the spray nozzle 30 facing the paint area B can be sprayed have. That is, when the position of the main body 10 is changed, control signals are transmitted to the propulsion unit 20 and the injection nozzle 30 to selectively control the injection nozzles 30, So that it is possible to perform accurate painting work even if the position of the main body 10 is changed.

Hereinafter, the control method and operation of the unmanned aerial vehicle for painting according to the present invention will be described in detail with reference to FIG.

FIG. 5 is a flow chart for explaining a control method of the unmanned aerial vehicle for painting operation according to an embodiment of the present invention, and FIG. 6 is an operation diagram illustrating an operation process of the unmanned aerial vehicle of FIG.

5, the method for controlling the painting operation unmanned aerial vehicle 1 according to the present invention determines the image signal photographed through the camera unit 50 installed on the unmanned air vehicle 1, (S200) of controlling the propulsion unit (20) to bring the unmanned air bearing 1 closer to the painting area (B), the step of recognizing the injection area of the plurality of the injection nozzles (30) (S300) of operating at least one of the injection nozzles (30) corresponding to the injection nozzle (B).

First, the propelling unit 20 is operated to raise the unmanned air vehicle 1 from the floor surface. When the unmanned air vehicle 1 is floated in the air, the camera unit 50 is operated. (A) is sought through the camera unit 50 as an object to be painted. After the camera unit 50 finds the target object A, the unmanned air vehicle 1 is moved by finding the injection area of the paint P to which the paint P is to be sprayed. The camera unit 50 photographs the object A to generate an image signal and analyzes the image in the control unit 40 or the control unit 60 to identify the object A or identify the painting area and the spraying area . In this way, the paint area B of the target object A is recognized (S100).

Next, the unmanned air vehicle 1 is controlled using the propulsion unit 20 to approach the painting area B (S200). The injection nozzle 30 is disposed so as to face the painting area B. At least one of the plurality of injection nozzles 30 of the unmanned air vehicle 1 is operated in the injection region 30 corresponding to the injection region of the paint P in operation S300. And controls the propulsion unit 20 to operate the spray nozzle 30 while moving along the paint region B to perform painting work.

At this time, if the unmannurant vehicle 1 is shaken due to disturbance during painting operation from the outside, the injection nozzle 30 is controlled so that the injection area does not deviate from the painting area B (S400).

When a disturbance occurs and the unmanned air vehicle recognizes a change in position of the unmanned aerial vehicle from the painting area B by the camera unit 50 as shown in FIG. 6, the spraying nozzle 30 facing the painting area B , And the operation of the injection nozzle 30 deviating from the painting area B is stopped (S500).

6, when the main body 10 is located in the painting area B, the injection nozzle 30 in the painting area B is selectively controlled to selectively apply the paint P ). It is possible to move the main body 10 to the right due to the disturbance occurring while moving down from the top of the painting area B while painting. When the main body 10 is displaced from the painting area B by the disturbance and only the left injection nozzle 30 faces the painting area B, only the left injection nozzle 30 located in the painting area B is selectively It is possible to perform the painting work only where the paint (P) is to be sprayed and to be painted. The spray nozzles 30 are selectively controlled while moving the main body 10 to the original position during the coating operation.

When the main body 10 moved to the original position is shifted to the left and only the right injection nozzle 30 is positioned in the paint area B, the injection nozzle 30 on the right side facing the paint area B, So that the paint P can be sprayed.

That is, the unmanned aerial vehicle 1 of the present invention can positionally control the spraying of the paint P by independently selecting the spray nozzles 30. Therefore, when painting is performed in the high layer and the paint P is sprayed, it is not affected by the painting operation due to disturbance, and it is advantageous to perform accurate painting even when the position of the unmanned air body 1 changes. In addition, the use of the unmanned aerial vehicle (1) at a place where the movement of the vehicle or the worker is limited can save the labor costs and the cost of installing the chiefs.

Referring again to FIG. 5, if the disturbance does not occur as a result of discrimination of the video signal photographed by the camera unit 50, the painting operation continues. On the other hand, if the disturbance is recognized as a result of the image signal discrimination, the operation of the injection nozzle 30 is stopped (S500). The operation of the injection nozzle 30 deviating from the painting area is stopped and only the spray nozzle 30 located in the painting area B operates to spray the paint P. [ While spraying the paint P, the unmanned air vehicle 1 is moved to a position before disturbance occurs (S600). The above steps S300 to S600 are repeated to perform a precise painting operation.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken in conjunction with the present invention. You will understand. It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive.

1: unmanned vehicle 10: main body
20: propulsion unit 30: injection nozzle
31: tube 40: control unit
50: camera unit 60: control unit
A: object B: painting area
P: Paint

Claims (8)

main body;
At least one propulsion unit formed in the main body and generating thrust to float the main body in the air;
A plurality of spray nozzles installed in the main body and controlled independently of each other to spray paint onto a target object;
And a control unit for transmitting a control signal to the propulsion unit and the injection nozzle,
The control signal activates only the injection nozzle corresponding to the spray region of the paint among the plurality of spray nozzles within the paint region of the object,
Further comprising: a camera unit formed in the main body and configured to photograph a spray area of the paint sprayed by the spray nozzle to generate a video signal,
Wherein the control unit recognizes the occurrence of a disturbance by discriminating an image signal photographed by the camera unit and recognizes the image signal when the main body moves by a disturbance to determine a jetting area of the paint among the plurality of jetting nozzles, Wherein only the injection nozzle corresponding to the paint region of the object is operated. delete delete delete The UART of claim 1, further comprising a tube connected to the injection nozzle to supply the paint and extending outside the body. A control method for an unmanned aerial vehicle for a painting work comprising a plurality of injection nozzles for spraying paint onto a target object, comprising the steps of: (A) recognizing an image signal photographed through a camera unit installed on an unmanned air vehicle, ; (B) controlling the propulsion unit to bring the unmanned air vehicle close to the painting area; (C) operating at least one of the injection nozzles corresponding to the injection region of the plurality of injection nozzles within the paint region,
(D), when the unmanned aerial vehicle moves due to disturbance after the step (C), the image signal is discriminated and the spraying nozzle of the plurality of the spraying nozzles out of the coating area is stopped Further comprising:
Wherein, after the step (D), the propulsion unit is controlled to bring the unmanned air vehicle close to the painting area and the jetting area of the plurality of jetting nozzles operates at least one of the jetting nozzles in the painting area E). ≪ / RTI > delete delete

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