Joint control method and system for unmanned aerial vehicle and follow-up trolley

Abstract

The invention discloses a joint control method and system for an unmanned aerial vehicle and a follow-up trolley. The method comprises a vertical direction joint control process and a horizontal direction joint control process which are carried out at the same time. The vertical direction joint control process comprises the following steps of 100, enabling a gravity sensor to measure pipeline gravity loaded by an unmanned aerial vehicle, and enabling a tension sensor to measure a pipeline tension value, 110, controlling a pipeline winding and unwinding device to wind and unwind the pipeline according to the pipeline tension value, so that the pipeline is kept in a tensioned state, and 120, adjusting power output of the unmanned aerial vehicle according to the change of the gravity of the pipeline, and enabling the unmanned aerial vehicle to keep moving at the constant speed. The horizontal direction joint control process comprises the following steps that 200, the distance sensor measures the relative distance and angle between the follow-up trolley and the unmanned aerial vehicle; and 210, the speed of the follow-up trolley is adjusted according to the relative distance and angle, so that the distance and angle between the follow-up trolley and the unmanned aerial vehicle are maintained at the preset distance and angle. The joint control method ensures that the unmanned aerial vehicle moves at a constant speed in the spraying process, and the spraying quality is improved.

Description

technical field [0001] The invention relates to the field of unmanned spraying control, in particular to a joint control method and system of a drone and a follower car. Background technique [0002] As the country's economy enters a period of transition, shipbuilding and other forms of painting operations that require a lot of labor cannot meet the needs of economical, clean and efficient realization. Existing wall-climbing painting robots and rail-frame painting robots have problems such as complex curved surface adaptability inspection, complex construction, and poor adaptability to different spraying environments. UAV spraying has begun to enter people's field of vision. [0003] In the existing UAV spraying device, the UAV and the accompanying trolley pull each other during the movement process, resulting in the UAV being unable to maintain a uniform motion and resulting in poor spray quality. Contents of the invention [0004] Purpose of the invention: The purpose o...

AI Technical Summary

Problems solved by technology

[0002] As the country's economy enters a period of transition, shipbuilding and other forms of painting operations that require a lot of labor cannot meet the needs of economical, clean and efficient realization

Existing wall-climbing painting robots and track-frame spraying robots have problems such as adaptability to complex curved surfaces, complex construction, and poor adaptability to different spraying environments. UAV spraying has begun to enter people's field of vision.

[0003] In the existing UAV spraying device, the UAV and the accompanying trolley pull each other during the movement process, resulting in the UAV being unable to maintain a uniform motion and resulting in poor spray quality

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