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Spraying robot and spraying method

A technology for spraying robots and spraying surfaces, which is applied to aircraft parts, spraying devices, launching devices, etc., can solve the problems of small application range, high energy consumption, and low precision of spraying drones, so as to improve spraying accuracy and increase spraying distance. , the effect of low power

Active Publication Date: 2021-07-27
BEIJING HUALANDE TECH CONSULTING SERVICE CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] Therefore, the technical problem to be solved by the embodiment of the present invention is to overcome the defects of low precision, high energy consumption and small application range of the spraying drone in the prior art, so as to provide a spraying robot and a spraying method

Method used

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  • Spraying robot and spraying method

Examples

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Embodiment 1

[0072] This embodiment provides a spraying robot, such as figure 1 , figure 2 and Figure 6 As shown, it includes: UAV 1, tethered rope 2 and ground trolley 3; for example, UAV 1 is a quadrotor UAV or others.

[0073] UAV 1 comprises spraying reaction force regulating device, four-rotor mounting base 14, telescopic rod device 15, steering gear 16, spraying device 17 and distance and angle detection device 18; Connection; the telescopic rod device 15 is installed directly below the center of gravity of the four-rotor mount 14, including a telescopically adjustable rod for driving the spraying device 17 to move forward and backward with the telescopic adjustment of the rod; the steering device 16 includes Fixed seat 61 and rotating body 62, fixed seat 61 is connected with one end of telescopic rod device 15, and rotating body 62 is connected with spraying device 17, is used to drive spraying device 17 to rotate left and right with the rotation adjustment of rotating body 62; ...

Embodiment 2

[0084] Spraying preparation: After the control parameters are input into the controller of the ground trolley, for example, the GPS / Beidou positioning module is used to control the ground trolley to drive to the predetermined position. At the same time as the UAV takes off, the mooring hoisting device on the ground trolley is controlled by the tension controller The hoisting reel releases the mooring rope with the take-off speed of the UAV; the UAV flies to the preset working height and feeds back to the ground trolley, and the ground trolley controls the spray liquid in the liquid storage device and sends it to the unmanned aerial vehicle through the tethering rope. machine spraying device.

[0085] After finishing the spraying preparatory steps, this embodiment provides a spraying method that can be applied to the controller 32 to complete the spraying. Such as Figure 7 Shown, this spraying method comprises the following steps:

[0086] S1. Obtain the angle between the en...

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Abstract

The invention discloses a spraying robot and a spraying method, and relates to the field of drone control. The spraying robot includes a drone, a mooring rope and a ground trolley; the drone includes a spraying reaction force adjustment device, a telescopic long rod device, and a steering device etc.; the telescopic rod device includes a telescopically adjustable long rod, which is used to drive the spraying device to move forward and backward with the telescopic adjustment of the long rod; Rotate left and right; the spraying reaction force adjustment device is connected with the other end of the telescopic long rod device, which is used to generate a reaction force that is a pair of the force on the drone when the spraying device sprays liquid; the tethering rope is used to transport the power supply of the drone Electric power, transmission of control signals and delivery of spraying liquid; the ground trolley is used to generate control signals and store spraying liquid. The invention has the advantages of small power and wide application range.

Description

technical field [0001] The invention relates to the field of unmanned aerial vehicle control, in particular to a spraying robot and a spraying method. Background technique [0002] At present, most of the spraying drones on the market are mainly used for drone flight, photography, inspection, plant spraying, etc., and in the existing drone applications that can be used as operating platforms, their Most of the methods are hoisting, vertical throwing, vertical traction and other operations. One of the main features of these applications is that their working direction is perpendicular to the ground direction. That is, the propeller of the UAV is located directly above the entire operation platform. As long as the center of gravity of the UAV operation process does not shift too much, under the control of the flight control system, the entire operation process and operation stages are of great importance to the flight of the UAV. It won't have much of an impact. However, in...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B05B13/04B05B12/12B05B15/628B05B15/70B64D1/18
CPCB05B12/12B05B12/124B05B13/0431B64D1/18B05B15/628B05B15/70
Inventor 连芷萱李奕成连一帆宋绍鑫
Owner BEIJING HUALANDE TECH CONSULTING SERVICE CO LTD
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