CN106337568B - Efficient exterior wall repairs unmanned plane - Google Patents
Efficient exterior wall repairs unmanned plane Download PDFInfo
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- CN106337568B CN106337568B CN201610865172.4A CN201610865172A CN106337568B CN 106337568 B CN106337568 B CN 106337568B CN 201610865172 A CN201610865172 A CN 201610865172A CN 106337568 B CN106337568 B CN 106337568B
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- unmanned plane
- unit
- exterior wall
- paint
- signal
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- 230000008439 repair process Effects 0.000 title claims abstract description 11
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 38
- 238000000034 method Methods 0.000 claims abstract description 7
- 239000003973 paint Substances 0.000 claims description 37
- 238000004140 cleaning Methods 0.000 claims description 25
- 230000007246 mechanism Effects 0.000 claims description 19
- 230000001105 regulatory effect Effects 0.000 claims description 14
- 239000011248 coating agent Substances 0.000 claims description 11
- 238000000576 coating method Methods 0.000 claims description 11
- 239000007921 spray Substances 0.000 claims description 11
- 230000004888 barrier function Effects 0.000 claims description 10
- 238000005259 measurement Methods 0.000 claims description 10
- 238000001514 detection method Methods 0.000 claims description 6
- 239000000284 extract Substances 0.000 claims description 6
- 238000007664 blowing Methods 0.000 claims description 5
- 230000001276 controlling effect Effects 0.000 claims description 3
- 238000002347 injection Methods 0.000 claims description 3
- 239000007924 injection Substances 0.000 claims description 3
- 238000010276 construction Methods 0.000 abstract description 5
- 230000009194 climbing Effects 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 2
- 238000005507 spraying Methods 0.000 description 3
- 230000005611 electricity Effects 0.000 description 2
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical group C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
Classifications
-
- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/02—Repairing, e.g. filling cracks; Restoring; Altering; Enlarging
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Electrochemistry (AREA)
- Mechanical Engineering (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Working Measures On Existing Buildindgs (AREA)
- Cleaning By Liquid Or Steam (AREA)
- Spray Control Apparatus (AREA)
Abstract
Present invention discloses a kind of efficient exterior walls to repair unmanned plane, including unmanned plane unit and surface units, signal wire, power supply line constitute work cable together with water pipe bondage, are connected between the unmanned plane unit and surface units by work cable；The present invention can remotely operate, and do not need staff's climbing and construct to eminence, so that exterior wall reparation construction process safety is quick, reduce the professional requirement of construction.
Description
Technical field
The present invention relates to unmanned plane fields, more particularly, to repair the unmanned plane of exterior wall.
Background technique
Exterior walls of buildings local shedding is faded, it usually needs is repaired, mending course needs artificial climbing or from top
Suspention is got off, there are construction risk, and it is bothersome laborious.
Summary of the invention
The technical problem to be solved by the present invention is to realize a kind of device that exterior wall modification can be carried out using unmanned plane.
To achieve the goals above, the technical solution adopted by the present invention is：Efficient exterior wall repairs unmanned plane, including unmanned plane
Unit and surface units, signal wire, power supply line constitute work cable, the unmanned plane unit and ground together with water pipe bondage
It is connected between unit by work cable；
Unmanned plane unit：It is fixed with holder below rotor wing unmanned aerial vehicle, cleaning nozzle, paint spray nozzle are fixed on the holder
And air-heater, the water pipe are equipped with two, end is separately connected cleaning nozzle and paint spray nozzle, consolidates on the rotor wing unmanned aerial vehicle
Surely there is the laser range sensor of measurement flying height downwards, laser range sensor exports distance signal to signal wire；；
Surface units：Including cleaning container, container for paint, power supply, controller and reel, the power supply connects power supply line,
For the reel for folding and unfolding work cable and by coiling motor driven, two water pipes are separately connected wash pump and paint pump,
The wash pump extracts the water in cleaning container, and the paint pump extracts the coating in container for paint, the controller connection letter
Number line simultaneously outputs control signals to coiling motor, for remote controlled rotary-wing unmanned plane, air-heater, wash pump, paint pump remote controler
Connect controller.
The holder is driven by Universal electric regulating mechanism and is rotated, and the power supply line and signal wire are all connected with Universal electric tune
Mechanism is saved, the camera of level acquisition image information is fixed on the holder, and export the picture signal with cross foresight
To signal wire, the air-heater, cleaning nozzle are identical with blowing/injection direction of paint spray nozzle, are the cross foresight
Position, the remote controler export Universal electric regulating mechanism driving signal to controller.
The holder is equipped with the barrier radar of detection camera photographing direction obstacle distance information, the barrier
Radar exports distance signal to signal wire.
The surface units are fixed on trolley, and the trolley has halting mechanism, and the trolley is equipped with for parking
Unmanned plane unit parks platform, the fixing belt or stationary fixture parked platform and be equipped with fixed unmanned plane unit.
The reel is equipped with the length measurement unit that unreels that length is released for measuring work cable, described to unreel length
Measuring unit exports length signals to controller, is equipped with water level sensing unit in the cleaning container and container for paint, described
Water level sensing unit exports water level signal to controller, and the controller is furnished with alarm unit and display.
GPS unit is equipped on institute's holder unmanned plane unit and surface units, the GPS unit outputs signal to control
The horizontal direction spacing of device acquisition unmanned plane unit and surface units.
Control method based on the efficient exterior wall repairing unmanned plane：
After efficient exterior wall repairing unmanned plane starting, by remote control device rotor wing unmanned aerial vehicle, Universal electric regulating mechanism, hot wind
Machine, wash pump and coating pump work；
When rotor wing unmanned aerial vehicle takes off, controller according to the distance controlling unwinding motor of unmanned plane unit and surface units just
Turn, overturning or stop, the unwinding motor unreel length equal to unmanned plane unit at a distance from surface units+safe distance,
The safe distance increases at a distance from surface units with unmanned plane unit and is increased.
Following arbitrary signal is obtained when the repairing unmanned plane work of efficient exterior wall, then is alarmed and gives corresponding prompt；
1) it when cleaning pump work, cleans the water level numerical value that the water level sensing unit in container obtains and is lower than preset threshold；
2) when coating pump work, the water level numerical value that the water level sensing unit in container for paint obtains is lower than preset threshold；
3) when electric quantity of power supply is lower than default safety value；
4) when wash pump, paint pump or air-heater work, barrier detections of radar is to front exterior wall spacing in default threshold
When being worth except section；
5) when unreel length measurement unit detect unreel length greater than preset threshold when.
The present invention can remotely operate, and do not need staff's climbing and construct to eminence, so that exterior wall reparation construction process
Safely and fast, the professional requirement of construction is reduced.
Detailed description of the invention
The content of width attached drawing every in description of the invention expression is briefly described below：
Fig. 1 is that efficient exterior wall repairs unmanned plane structural schematic diagram.
Specific embodiment
The present invention efficient exterior wall repairing unmanned plane includes unmanned plane unit and surface units, unmanned plane unit and surface units
Between connected by work cable, work cable is made of together with water pipe bondage signal wire, power supply line, efficient exterior wall repairing
Unmanned plane is divided into above-mentioned two part, can greatly improve the flexibility of unmanned plane unit and the continuation of the journey of aerial work
Ability.
Unmanned plane unit main body aviation mechanism is rotor wing unmanned aerial vehicle, is fixed with holder below rotor wing unmanned aerial vehicle, holder by
The driving rotation of Universal electric regulating mechanism, remote controler export Universal electric regulating mechanism driving signal to controller, power supply line and
Signal wire is all connected with Universal electric regulating mechanism, and power supply line is the power supply of Universal electric regulating mechanism, signal wire output control signal
To Universal electric regulating mechanism.
Camera, cleaning nozzle, paint spray nozzle and air-heater are fixed on holder, water pipe is equipped with two, end difference
Connection cleaning nozzle and paint spray nozzle, cleaning nozzle and paint spray nozzle are horizontally disposed in the same direction, carry out metope cleaning and spray coating operations.
Air-heater guarantees repairing quality for drying clean water and coating.Camera output has the picture signal of cross foresight to letter
Number line, it is the position of the cross foresight that air-heater, cleaning nozzle are identical with blowing/injection direction of paint spray nozzle, due to
Camera, air-heater, cleaning nozzle and paint spray nozzle are each attached on holder, need to only debug the position of cross foresight, nothing in advance
How to be rotated by holder, can guarantee the accuracy of spraying, blowing direction.
Holder is equipped with the barrier radar of detection camera photographing direction obstacle distance information, the output of barrier radar
For distance signal to signal wire, the radar that breaks the barriers can guarantee the spacing of device and exterior wall, and the error for avoiding vision from determining is protected
The quality of card spraying, blowing.
Surface units include cleaning container, container for paint, power supply, controller and reel, and cleaning container is for holding cleaning
Water, can clean and moisten metope, and container for paint is used to store the coating of repairing.Surface units are fixed on trolley, convenient to turn
Fortune, trolley have halting mechanism, and when guaranteeing device work, trolley will not be moved arbitrarily, improve operational safety, and trolley is equipped with
Platform is parked for park unmanned plane unit, parks fixing belt or stationary fixture that platform is equipped with fixed unmanned plane unit,
When trolley is mobile, it can guarantee will not falling for unmanned plane unit.
Power supply is the power supply of entire unmanned plane unit by power supply line, is also surface units power supply, is effectively equipped with electricity for power supply
Pond administrative unit, and battery data is delivered to display and is shown, allow staff to understand power supply status in real time.
For reel for folding and unfolding work cable and by coiling motor driven, two water pipes are separately connected wash pump and paint pump,
Wash pump extracts the water in cleaning container, and paint pump extracts the coating in container for paint, cleans and is all provided in container and container for paint
There is water level sensing unit, to controller, waterlevel data can be shown two water level sensing unit output water level signals over the display
Show, and in the too low alarm of water level, staff is facilitated to feed in time.
For the unwrapping wire length of automation control work cable, it is fixed on rotor wing unmanned aerial vehicle and measures flying height downwards
Laser range sensor, laser range sensor is fixed on rotor wing unmanned aerial vehicle can be avoided because of cloud platform rotation caused by measure
The distance of error, laser range sensor output is delivered to controller by signal wire, thus by obtaining unmanned plane unit
Height of taking off obtains the approximate distance of unmanned plane unit and surface units, and controller controls coiling motor work by the distance signal
Make, to control the length of unwrapping wire, the precision of acquisition unmanned plane unit and surface units distance to further increase, holder without
GPS unit is equipped on man-machine unit and surface units, the GPS unit outputs signal to controller and obtains unmanned plane unit
It is single so as to obtain more accurate unmanned plane unit and ground using Pythagorean theorem with the horizontal direction spacing of surface units
The distance of member improves the precision of work cable unwrapping wire length.
Reel, which is equipped with, releases length for measuring work cable and unreels length measurement unit, unreels length measurement unit
Length signals are exported to controller, controller is furnished with alarm unit and display, can show different parameters, data, and benefit
The corresponding warning note of staff is given with alarm unit, is used for remote controlled rotary-wing unmanned plane, wash pump, paint pump, universal electricity
Dynamic regulating mechanism connects controller with the remote controler of air-heater, and controller connection signal line issues control signal to unmanned plane list
Member.
Since reel work is rotation status, the reel end of work cable has a rotary joint and surface units
Each equipment connection, rotary joint includes the rotary joint of water pipe rotary joint and power supply line and signal wire, due to line,
There are four pipe tools, can be affixed with reel by section components, keeps synchronous rotary, can also be gone out respectively using reel both ends
The mode of line, pipe solves the problems, such as wiring, adapter tube.
Control method based on above-mentioned efficient exterior wall repairing unmanned plane：
After efficient exterior wall repairing unmanned plane starting, by remote control device rotor wing unmanned aerial vehicle, Universal electric regulating mechanism, hot wind
Machine, wash pump and coating pump work；Remote signal includes control rotor wing unmanned aerial vehicle flight control signal, Universal electric regulating mechanism turn
To the keying signal of signal, air-heater, wash pump and paint pump；
When rotor wing unmanned aerial vehicle takes off, controller according to the distance controlling unwinding motor of unmanned plane unit and surface units just
Turn, overturning or stop, the unwinding motor unreel length equal to unmanned plane unit at a distance from surface units+safe distance,
Safe distance increases at a distance from surface units with unmanned plane unit and is increased, so that work cable be made to remain at a peace
Complete unreels in length；
Following arbitrary signal is obtained when the repairing unmanned plane work of efficient exterior wall, then is alarmed and gives corresponding prompt；
1) it when cleaning pump work, cleans the water level numerical value that the water level sensing unit in container obtains and is lower than preset threshold；
2) when coating pump work, the water level numerical value that the water level sensing unit in container for paint obtains is lower than preset threshold；
3) when electric quantity of power supply is lower than default safety value；
4) when wash pump, paint pump or air-heater work, barrier detections of radar is to front exterior wall spacing in default threshold
When being worth except section；
5) when unreel length measurement unit detect unreel length greater than preset threshold when.
By above-mentioned early warning, so that device work is more safe and reliable.
Claims (7)
1. efficient exterior wall repairs unmanned plane, it is characterised in that：Including unmanned plane unit and surface units, signal wire, power supply line and
Water pipe bondage constitutes work cable together, is connected between the unmanned plane unit and surface units by work cable；
Unmanned plane unit：It is fixed with holder below rotor wing unmanned aerial vehicle, cleaning nozzle, paint spray nozzle and heat are fixed on the holder
Blower, the water pipe are equipped with two, and end is separately connected cleaning nozzle and paint spray nozzle, fixes on the rotor wing unmanned aerial vehicle
There is the laser range sensor of measurement flying height downwards, laser range sensor exports distance signal to signal wire；
Surface units：Including cleaning container, container for paint, power supply, controller and reel, the power supply connects power supply line, described
For reel for folding and unfolding work cable and by coiling motor driven, two water pipes are separately connected wash pump and paint pump, described
Wash pump extracts the water in cleaning container, and the paint pump extracts the coating in container for paint, the controller connection signal line
And coiling motor is output control signals to, the remote controler for remote controlled rotary-wing unmanned plane, air-heater, wash pump, paint pump connects
Controller;
The holder is driven by Universal electric regulating mechanism and is rotated, and the power supply line and signal wire are all connected with Universal electric and adjust machine
Structure is fixed with the camera of level acquisition image information on the holder, and exports and have the picture signal of cross foresight to believing
Number line, it is the position of the cross foresight that the air-heater, cleaning nozzle are identical with blowing/injection direction of paint spray nozzle,
The remote controler exports Universal electric regulating mechanism driving signal to controller.
2. efficient exterior wall according to claim 1 repairs unmanned plane, it is characterised in that：The holder is equipped with detection camera shooting
The barrier radar of head photography direction obstacle distance information, the barrier radar export distance signal to signal wire.
3. efficient exterior wall according to claim 1 repairs unmanned plane, it is characterised in that：The surface units are fixed on trolley
On, the trolley has a halting mechanism, and the trolley is equipped with platform of parking for parking unmanned plane unit, it is described park it is flat
Platform is equipped with the fixing belt or stationary fixture of fixed unmanned plane unit.
4. efficient exterior wall according to claim 3 repairs unmanned plane, it is characterised in that：The reel is equipped with for measuring
What work cable released length unreels length measurement unit, and the length measurement unit that unreels exports length signals to controller,
Water level sensing unit, the water level sensing unit output water level signal to control are equipped in the cleaning container and container for paint
Device, the controller are furnished with alarm unit and display.
5. efficient exterior wall according to claim 1 repairs unmanned plane, it is characterised in that：The unmanned plane unit and ground are single
GPS unit is equipped in member, the GPS unit outputs signal to the level that controller obtains unmanned plane unit and surface units
Direction spacing.
6. the control method based on the repairing unmanned plane of efficient exterior wall described in any one of claim 1-5, it is characterised in that：
After efficient exterior wall repairing unmanned plane starting, by remote control device rotor wing unmanned aerial vehicle, Universal electric regulating mechanism, air-heater,
Wash pump and coating pump work；
When rotor wing unmanned aerial vehicle takes off, controller is rotated forward according to unmanned plane unit and the distance controlling coiling motor of surface units, is turned over
Turn or stop, the coiling motor unreel length equal to unmanned plane unit at a distance from surface units+safe distance, the peace
Full distance increases at a distance from surface units with unmanned plane unit and is increased.
7. control method according to claim 6, it is characterised in that：When efficient exterior wall repairing unmanned plane work when obtain with
Lower arbitrary signal is then alarmed and gives corresponding prompt；
1）When cleaning pump work, cleans the water level numerical value that the water level sensing unit in container obtains and be lower than preset threshold；
2）When coating pump work, the water level numerical value that the water level sensing unit in container for paint obtains is lower than preset threshold；
3）When electric quantity of power supply is lower than default safety value；
4）When the work of wash pump, paint pump or air-heater, barrier detections of radar is to front exterior wall spacing in preset threshold area
Between except when；
5）When unreel length measurement unit detect unreel length greater than preset threshold when.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610865172.4A CN106337568B (en) | 2016-09-29 | 2016-09-29 | Efficient exterior wall repairs unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610865172.4A CN106337568B (en) | 2016-09-29 | 2016-09-29 | Efficient exterior wall repairs unmanned plane |
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| Publication Number | Publication Date |
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| CN106337568A CN106337568A (en) | 2017-01-18 |
| CN106337568B true CN106337568B (en) | 2018-11-30 |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107049164A (en) * | 2017-03-10 | 2017-08-18 | 佛山市神风航空科技有限公司 | A kind of unmanned plane cleans high-altitude wall system |
| CN106965929A (en) * | 2017-03-10 | 2017-07-21 | 佛山市神风航空科技有限公司 | One kind fishing unmanned plane |
| CN110979690A (en) * | 2019-12-27 | 2020-04-10 | 扬州大学 | A smart building repair drone |
| CN111236587A (en) * | 2020-02-04 | 2020-06-05 | 胡瑞昊 | Wall surface spray painting cleaning method and special equipment |
| CN113090062A (en) * | 2021-04-07 | 2021-07-09 | 西湖大学 | Air operation system for repairing task |
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|---|---|---|---|---|
| US20130134254A1 (en) * | 2011-11-29 | 2013-05-30 | Jason Moore | UAV Fire-fighting System |
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2016
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| JP2003312592A (en) * | 2002-04-25 | 2003-11-06 | Mitsubishi Heavy Ind Ltd | Remote control system |
| CN201103245Y (en) * | 2007-08-31 | 2008-08-20 | 吴美冠 | Filling machine |
| CN104210659A (en) * | 2014-09-15 | 2014-12-17 | 金陵科技学院 | Unmanned aerial vehicle for high-rise building cleaning |
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| CN106337568A (en) | 2017-01-18 |
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Effective date of registration: 20240313 Address after: Building 10, 6th Floor, Qingdao Xingtian Aviation Industrial Park, East of Liwang Road and West of Guihua Branch Road, Ligezhuang Town, Jiaozhou City, Shandong Province, 266000 Patentee after: Qingdao Feitianyi Drone Technology Co.,Ltd. Country or region after: China Address before: 241000 2nd floor, Xihu Xincheng, Sanshan District, Wuhu City, Anhui Province Patentee before: ANHUI INSOON FLIGHT SAFETY TECHNOLOGY CO.,LTD. Country or region before: China |
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