KR102492690B1 - Drone system for hull painting robot - Google Patents

Abstract

The present invention is a drone system for performing the function of a robot painting a hull: a paint supply source 10 for storing paint; A drone body 20 connected to the paint supply source 10 by a hose 15 and spraying paint through a plurality of nozzle members; a detection means (30) for generating information related to painting work while detecting the position and posture of the drone body (20); and a control means (40) for controlling the paint supply source (10), the drone body (20), and the detection means (30) with a set algorithm.
Accordingly, at a ship building site, a coating robot equipped with two nozzles and a detection member is mounted and the outer plate is painted while flying in a pattern suitable for the target hull, thereby reducing labor and substantially improving productivity.

Description

Drone system for hull painting robot {Drone system for hull painting robot}

The present invention relates to a hull painting drone system, and more particularly, to a drone system for a hull painting robot for painting the outer plate of a ship hull while flying with the painting robot mounted thereon at a ship building site.

Among the key processes in shipbuilding, many studies have been conducted on automation in the field of welding, processing and logistics, and practical use and working environment have been significantly improved. It is expected. Ultimately, it is expected that the area where workers work using aerial vehicles can be solved by using drones.

Korean Patent Registration No. 2185574 (Prior Document 1) and Korean Patent Registration No. 2172495 (Prior Document 2) may be referred to as prior art documents using drones in relation to ship hull painting.

Prior Document 1 accurately measures the thickness of the coating film coated on the surface of various large structures and at the same time widens the movable range of the measuring unit used for measuring the film thickness, moves the drone close to the measurement position, and then moves the drone in a wide range without moving the drone. It is possible to measure the thickness of the coating film, so it is expected to improve speed and safety.

However, since this is limited only to measuring the thickness of the coating film after painting, it does not have a significant impact on the labor saving of the hull painting process.

Prior Document 2 is installed on the upper portion of the body portion and the flight portion consisting of a propeller capable of flight; A painting unit installed on the body and applying paint to the paint storage unit; A painting drone equipped with a location transmission unit; A drone for measurement having a shape measuring unit; A server that controls the location by matching the location of the drone with each other; consists of, etc.

However, this shows room for improvement in that it is cumbersome because two types of drones, one for painting and one for measurement, must be used.

Korean Registered Patent Publication No. 2185574 "Apparatus for measuring film thickness for drones" (Publication date: 2020.12.03.) Korean Registered Patent Publication No. 2172495 "Drone Operation System for Painting" (Public Date: 2020.11.02.)

An object of the present invention to improve the above conventional problems is for a hull painting robot capable of painting an outer plate while flying in a pattern suitable for a target hull by mounting a painting robot equipped with 2 nozzles and a detection member at a ship building site. It is to provide drone system.

In order to achieve the above object, the present invention is a drone system for performing the function of a robot for painting a hull: a paint supply source for storing paint; A drone main body connected to the paint supply source by a hose and spraying paint through a plurality of nozzle members; a detection means for generating information related to painting work while detecting the position and posture of the drone body; and a control means for controlling the paint supply source, the drone body, and the detection means with a set algorithm.

As a detailed configuration of the present invention, the nozzle member of the drone body is composed of a fixed nozzle and a variable nozzle, and the variable nozzle is characterized in that it is connected to the position controller.

As a detailed configuration of the present invention, the drone body is characterized in that it has a sub-propeller for supporting the reaction force of paint spraying in addition to the main propeller for position movement.

As a detailed configuration of the present invention, the detection means is a GPS, an altimeter for measuring altitude in conjunction with GPS, a distance detector for detecting the distance to the hull, a camera for photographing paint spraying and painting conditions, and a coating film state for hull painting. It is characterized in that it is provided with a coating tester for inspecting.

As a detailed configuration of the present invention, the control unit is characterized in that the painting is performed while moving the drone body in the vertical direction in a state in which spray areas by each nozzle member are overlapped.

As described above, according to the present invention, since a painting robot equipped with two nozzles and a detection member is mounted at a ship building site and the outer plate is painted while flying in a pattern suitable for the target hull, there is an effect of promoting practical productivity improvement as well as labor saving.

1 is a schematic diagram showing the system according to the present invention as a whole
Figure 2 is a schematic diagram showing the main part of the system according to the present invention
Figure 3 is a block diagram showing the control circuit of the system according to the present invention
Figure 4 is a schematic diagram showing a working example of the system according to the present invention

Hereinafter, embodiments of the present invention will be described in detail based on the accompanying drawings.

The present invention proposes a drone system for performing the function of a robot painting a hull. It is intended for an area where a ship's hull works using a high-altitude vehicle, but is not necessarily limited thereto.

According to the present invention, a paint supply source 10 for storing paint is provided. The paint supply source 10 includes a component that mixes each raw material to produce paint required for painting on a movable cart. The paint supply source 10 includes a pump for applying paint transfer force and a valve for opening and closing the passage.

In addition, according to the present invention, the drone body 20 spraying paint through a plurality of nozzle members has a structure connected to the paint supply source 10 by a hose 15.

Referring to FIG. 1 , a state in which the drone body 20 is connected to the paint supply source 10 and the hose 15 is shown. The drone body 20 is capable of horizontal and vertical movement as well as stationary flight with respect to the painted area of the hull. The drone body 20 is advantageous for a non-contact method in which paintwork damage or contamination by wheels does not occur. The hose 15 is made of a material with high strength, light weight, flexibility, and flame retardancy.

As a detailed configuration of the present invention, the nozzle member of the drone body 20 is composed of a fixed nozzle 21 and a variable nozzle 22, and the variable nozzle 22 is connected to the position controller 25. .

1 and 2, a fixed nozzle 21 and a variable nozzle 22 appear as a plurality of nozzle members mounted on the drone body 20. Since the position of the fixed nozzle 21 is fixed, it can be set as a reference coordinate. The variable nozzle 22 is movably mounted on the guide rail 23 . The position controller 25 induces positional movement of the variable nozzle 22 and detects the state of change at the same time. The drone body 20 has an electromagnetic valve between the hose 15 and the nozzle member for opening and closing the flow path or adjusting the flow rate.

At this time, it is preferable to maintain the heights of the fixed nozzle 21 and the variable nozzle 22 differentially. In the illustration, the fixed nozzle 21 is positioned higher than the variable nozzle 22, which is clearly understood through FIG. 4 to be described later.

As a detailed configuration of the present invention, the drone body 20 is characterized by having a sub-propeller 28 for supporting the reaction force of paint spraying in addition to the main propeller 27 for position movement.

In FIG. 1, a main thruster 27 and a sub thruster 28 installed in the drone body 20 are shown. The main thruster 27 is installed in the upper area of the drone body 20 and handles the entire load including the hose 15. The sub thruster 28 is installed on the side opposite to the nozzle member in the side area of the drone body 20. In the process of spraying the road through the nozzle member, the position of the drone body 20 is changed by reaction force. The sub thruster 28 bears this reaction force and maintains the drone body 20 and the coated area of the hull at a constant distance.

In addition, according to the present invention, the detection unit 30 has a structure in which information related to painting work is generated while detecting the position and posture of the drone body 20.

Referring to FIGS. 2 and 3 , a state in which the nozzle member and the detection means 30 are mounted on the drone body 20 at the same time is shown. The detection unit 30 acquires information for operating the nozzle member of the drone body 20 and information for operating the thrusters 27 and 28. It is important that the drone body 20 maintains a certain distance and posture from the area to be painted on the hull. The drone body 20 is equipped with a battery for driving the detection means 30.

As a detailed configuration of the present invention, the detection means 30 includes a GPS 31, an altitude meter 32 for measuring altitude in conjunction with the GPS 31, a distance detector 33 for detecting the distance to the hull, and paint It is characterized by having a camera 35 for photographing spraying and painting conditions, and a coating film inspector 38 for inspecting the coating film condition of the hull painting.

In FIG. 3, the GPS 31, the altitude meter 32, the distance detector 33, the camera 35, the film tester 38, etc. constituting the detection means 30 are shown. The GPS 31 processes the location data of the drone body 20 in real time based on longitude and latitude coordinates. A differential GPS (DGPS) method that relatively eliminates an error using two GPS units 31 is preferred. The altitude measuring device 32 is configured using a fixed nozzle 21 and an air pressure sensor, and detects a height change during painting of the drone body 20. The distance detector 33 is preferably an ultrasonic method rather than a laser method when considering a ship building site. The camera 35 acquires 2D images, but a 3D scanner function may be added. The film tester 38 applies a magnetic induction type or vortex type that detects the film thickness in a non-destructive manner.

On the other hand, it is preferable to configure the detecting means 30 to further include a movable detector 37 according to the working environment. The operation detector 37 detects the operation state of main components mounted on the drone body 20, the detection means 30, as well as the control means 40 to be described later. This is to reduce the risk of safety accidents due to deterioration in operational reliability or durability by detecting overcurrent and overheating conditions.

In addition, according to the present invention, the control means 40 has a structure in which the paint supply source 10, the drone body 20, and the detection means 30 are controlled by a set algorithm.

2 and 3, the control means 40 shows a state connected to the paint supply source 10, the drone body 20, and the detection means 30. The control means 40 is based on the controller 41 of a microprocessor, memory, and a microcomputer circuit equipped with an input/output interface. A valve, a position controller 25, a main thruster 27, a sub thruster 28, and the like are connected to the driving unit 43 of the controller 41. The control means 40 also performs communication between the controller 41 and the manipulator 45 of the remote control function. The manipulator 45 has an input unit 46 for inputting working conditions, an output unit 47 for operating main components, a display unit 48 for displaying operating conditions, and the like.

As a detailed configuration of the present invention, the control means 40 is characterized in that the painting is performed while moving the drone body 20 in the vertical direction in a state in which spray areas by each nozzle member overlap.

Referring to FIG. 4 , a process of painting using a fixed nozzle 21 and a variable nozzle 22 is shown. As shown in FIG. 4 (a), the height difference between the fixed nozzle 21 and the variable nozzle 22 is maintained and the position of the variable nozzle 22 is varied. 4(b) shows a state in which paint is sprayed from the fixed nozzle 21 and the variable nozzle 22 in a plan view. 4(c) shows a state in which the paint is applied to the area to be painted of the hull. If the width of spraying by each nozzle member is 400 mm, they are overlapped at an interval of 50 mm (height difference) above and below. Figure 4 (d) shows a state in which the nozzle is actually sprayed by the fixed nozzle 21 and the variable nozzle 22.

The controller 41 moves the drone body 20 in a zigzag pattern of a set path repeating vertical elevation, horizontal movement, vertical descent, and horizontal movement, and operates the nozzle member to perform painting. As shown in FIG. 4(d), it is important to paint in the vertical direction in a state in which the application areas are overlapped in order to secure the painting quality.

The present invention is not limited to the described embodiments, and it is obvious to those skilled in the art that various modifications and variations can be made without departing from the spirit and scope of the present invention. Therefore, such variations or modifications should fall within the scope of the claims of the present invention.

10: paint supply source 15: hose
20: drone body 21: fixed nozzle
22: variable nozzle 23: guide rail
25: position controller 27: main thruster
28: sub-propeller 30: detection means
31: GPS 32: altimeter
33: distance detector 35: camera
37: movable detector 38: coating tester
40: control means 41: controller
43: driving unit 45: manipulator
46: input unit 47: output unit
48: display unit

Claims (5)

In a drone system for performing the function of a robot that paints a hull:
a paint supply source 10 for storing paint;
A drone body 20 connected to the paint supply source 10 by a hose 15 and spraying paint through a plurality of nozzle members;
a detecting means (30) for generating information related to painting work while detecting the position and attitude of the drone body (20); and
A control means (40) for controlling the paint supply source (10), the drone body (20), and the detection means (30) with a set algorithm;
The nozzle member of the drone body 20 is composed of a fixed nozzle 21 and a variable nozzle 22, the variable nozzle 22 is connected to the position adjuster 25, and the variable nozzle 22 is the position adjuster 25 ), the fixed nozzle 21 and the variable nozzle 22 are maintained at different heights,
The drone body 20 is provided with a sub-propeller 28 for supporting the reaction force of paint spraying in addition to the main propeller 27 for position movement,
The detection means 30 includes a GPS 31, an altitude meter 32 for measuring altitude in conjunction with the GPS 31, a distance detector 33 for detecting the distance to the hull, and a photographing paint spraying and painting state. A drone system for a hull painting robot, characterized in that it includes a camera (35) and a coating film inspector (38) for inspecting the state of the coating film of the hull painting. delete delete delete The method of claim 1,
The drone system for a hull painting robot, characterized in that the control means 40 performs painting while moving the drone body 20 in the vertical direction in a state in which the spraying areas by each nozzle member overlap.

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