Aerial antimagnetic coating unmanned aerial vehicle system and antimagnetic coating method

Abstract

The invention provides an aerial antimagnetic coating unmanned aerial vehicle system and an antimagnetic coating method.The system comprises a coating unmanned aerial vehicle, the coating unmanned aerial vehicle comprises an unmanned aerial vehicle body, multifunctional coating parts and rotating parts are symmetrically arranged on the front side, the rear side, the left side and the right side of the unmanned aerial vehicle body correspondingly, and the rotating parts are rotationally connected with a multi-rotor power device; the rotating component drives the unmanned aerial vehicle body to rotate in the multi-rotor power device, and a camera module, an integrated spray gun and a drying device are further arranged on the end face of the multifunctional coating part. The built-in subsystem comprises a redundant communication module and an antimagnetic module, and the antimagnetic module is used for sensing an external magnetic field and generating an equal-strength reverse magnetic field; the antimagnetic module and the redundant communication modules are arranged on the inner side of the upper surface of the unmanned aerial vehicle body, the antimagnetic module is arranged at the horizontal center of the unmanned aerial vehicle body, and the redundant communication modules are arranged in a circumferential array mode with the antimagnetic module as the center. The unmanned aerial vehicle system has the functions of multi-angle paint spraying and active resistance to magnetic field interference.

Description

Technical Field

[0001] The present invention relates to the technical field of aircraft, and in particular to an aerial anti-magnetic coating UAV system and an anti-magnetic coating method. Background Art

[0002] With the rapid development of drone technology, its application scenarios are constantly expanding, especially in the fields of construction and industry, drone spraying systems are gradually showing their great potential and value. This system not only improves work efficiency, but also greatly improves the accuracy and uniformity of spraying, thus promoting technological innovation in related industries to a great extent. Although drone technology has been applied in the field of spraying, the existing system still has shortcomings in functional integration and adaptability. Traditional drone spraying systems often have single functions, fail to achieve multi-task integration, and fail to fully consider the influence of magnetic fields and the lightweight of equipment during design.

[0003] In particular, in traditional drone spraying systems, the cleaning problem of the surface to be sprayed is not considered, such as patent CN115743546A, patent CN208981102U, etc. Especially in large ships and outdoor spraying work, the spraying time is long, and it is inevitable that impurities will contaminate the surface to be sprayed, which not only affects the spraying effect, but also increases the difficulty of later cleaning and repair. For example, patent CN214296457U sets a protective strip to protect the drone body, but the protective strip is too thick and does not consider the lightweight of the drone. At the same time, the traditional drone spraying system does not propose an effective method to solve the problem of magnetic field interference. For example, patent CN220924497U, patent CN109334977A, etc., are often interfered by the magnetic field when spraying large ships, causing the drone to lose control. In addition, traditional spraying drones are limited to spraying in a single dimension, such as patent CN211592956U and patent CN217864756U, and cannot meet the spraying requirements of different dimensions. Finally, the traditional drone spraying system has a single function and lacks a new nozzle design to achieve functional integration.

[0004] Therefore, designing an aerial anti-magnetic painting drone system that can spray accurately, prevent magnetic field interference, is lightweight, and has a multifunctional integrated nozzle will become the key to future drone spraying research. Summary of the invention

[0005] In view of the problem that the traditional UAV spraying system in the prior art has single function and is difficult to resist the interference of external magnetic fields, the present invention proposes an aerial anti-magnetic painting UAV system and an anti-magnetic painting method to solve the above problems.

[0006] According to the first aspect of the present application, an aerial anti-magnetic coating drone system is proposed, comprising:

[0007] A painting drone comprises a drone body, wherein a multifunctional painting part and a rotating part are symmetrically arranged on the front and rear sides and the left and right sides of the drone body, respectively. The rotating part is rotatably connected with a multi-rotor power device, and the rotating part drives the drone body to rotate inside the multi-rotor power device. A camera module, an integrated spray gun and a drying device are also arranged on the end surface of the multifunctional painting part;

[0008] The built-in subsystem is arranged inside the drone body. The built-in subsystem includes a redundant communication module and an anti-magnetic module. The anti-magnetic module is used to sense the external magnetic field and generate a reverse magnetic field of equal strength. The anti-magnetic module and the redundant communication module are arranged on the inner side of the upper surface of the drone body, and the anti-magnetic module is placed at the horizontal center of the drone body. The redundant communication modules are arranged in a circular array with the anti-magnetic module as the center.

[0009] By adopting the above technical solution, a unique rotating mechanism is used to achieve multi-dimensional spraying capability. The symmetrically designed multifunctional coating part can realize accurate spraying of various types of paints in different spatial dimensions. The multifunctional coating part that integrates a camera module, an integrated spray gun and a drying device forms an innovative nozzle system that can integrate water / air cleaning and drying functions, providing an integrated pretreatment solution for the surface to be sprayed. The cooperation of the anti-magnetic module and the redundant communication module is formed to form a double-protected anti-interference system, which can effectively deal with the interference of the external magnetic field on the drone during the spraying process. At the same time, the anti-magnetic module is placed at the horizontal center of the drone body, and the external magnetic field is more effectively and accurately sensed and offset with the drone body as the center, and it helps to balance the center of gravity of the drone body, making its flight more stable. The redundant communication modules are arranged in a circular array, which not only improves the space utilization rate, but also enables the anti-magnetic module to effectively resist the communication interference of the redundant communication module caused by the external magnetic field, and reduces the impact on other internal components.

[0010] In some specific embodiments, a vehicle for carrying materials is also included. The vehicle is connected to a painting drone via a multifunctional integrated tube. The multifunctional integrated tube has multiple high-voltage pipelines and power cords built in. The high-voltage pipelines and power cords are respectively used to feed the integrated spray gun and provide power to the painting drone.

[0011] By adopting the above technical solution and taking advantage of the external vehicle, the need for complex internal components is effectively avoided. The vehicle can carry power supplies, high-pressure pumps, a variety of paints, and water sources, etc., thereby significantly reducing the overall weight of the drone and achieving lightweight equipment.

[0012] In some specific embodiments, the integrated spray gun includes a T-shaped spray gun tube body extending from the drone body, and at least a gas nozzle, a water nozzle and a paint nozzle are protruding from the spray gun tube body.

[0013] By adopting the above technical solution, the pretreatment function of the spraying surface is realized. During the spraying operation with a long time, the spraying surface can be cleaned by the gas nozzle and / or water nozzle before the spraying operation is carried out, thereby avoiding the phenomenon of impurities contaminating the spraying surface.

[0014] In some specific embodiments, the multi-rotor power device includes a power frame, a plurality of driving rotors are arranged in an array around the power frame, a collision protection ring is also provided around the driving rotor, and a symmetrical support rod extends vertically downward from the bottom of the power frame, and the end of the support rod is rotatably connected to the rotating component.

[0015] By adopting the above technical solution, the two support rods rotate in coordination with the rotating component, so that the rotating component can drive the UAV body to adjust the angle in the multi-rotor power device, further achieving the effect of multi-angle precision spraying, and at the same time can prevent the UAV body from maintaining a certain safety distance from the driving rotor. The setting of the collision protection ring can prevent the painting UAV from being damaged by collision during high-altitude operations, and can reduce the influence of airflow in the horizontal direction on the spraying quality, thereby achieving a better spraying effect.

[0016] In some specific embodiments, the camera module includes a camera embedded in the end surface of the multifunctional coating portion, and a plurality of high-pressure cleaning ports are arranged around the outer surface of the camera.

[0017] By adopting the above technical solution, before spraying, the cleanliness of the surface to be sprayed can be detected by the camera, and the pre-treatment function can be realized with the integrated spray gun. When the surface of the camera is contaminated during the spraying process, the camera is cleaned by the high-pressure cleaning port. The traditional camera anti-fouling treatment generally adopts the transparent protective film replaced by the electric drive or the electric drive airflow. These devices will embed the motor inside the drone, which will increase the total weight of the drone.

[0018] In some specific embodiments, the anti-magnetic module is composed of a magnetic field sensor responsible for real-time detection of magnetic field strength, a signal processor responsible for calculating the reverse magnetic field strength, and a compensation coil responsible for generating a reverse magnetic field. The magnetic field sensor, signal processor, and compensation coil are electrically connected in sequence.

[0019] By adopting the above technical solution, the magnetic field sensor can monitor the changes in the external magnetic field in real time during the operation of the painting drone, and the signal processor generates a magnetic field of the same intensity through the compensation coil to offset it, thereby realizing the function of anti-interference in the magnetic field.

[0020] In some specific embodiments, the redundant communication module includes a plurality of independent signal receivers evenly distributed inside the drone body.

[0021] By adopting the above technical solution, multiple independent signal receivers form a redundantly designed communication structure. When one signal receiver is damaged, the remaining signal receivers can seamlessly take over its work, ensuring the continuity and stability of the communication and navigation systems. In conjunction with the anti-magnetic module, the painting drone can fly in a complex magnetic field environment. When facing magnetic field interference or other potential risks, the painting drone can maintain the continuity and stability of its operation.

[0022] According to the second aspect of the present application, an anti-magnetic coating method is proposed, using the above-mentioned drone system, the method comprising:

[0023] The painting drone is lifted to one side of the object to be sprayed, and the rotating component adjusts the multifunctional coating part on the front side to be perpendicular to the surface of the object to be sprayed, and prepares for spraying;

[0024] The multifunctional integrated pipe transports paint to the integrated spray gun and sprays the surface of the object to be sprayed. After a single local surface spraying is completed, the drying device quickly dries the sprayed surface.

[0025] After drying is completed, the rotating component drives the drone body to rotate 180°, so that the multifunctional coating part on the rear side is perpendicular to the surface of the object to be sprayed, and a second spraying is carried out. After spraying is completed, the drying device quickly dries the sprayed surface again.

[0026] By adopting the above technical solution, the painting drone can quickly adjust its position and perform multiple spraying and drying, which greatly shortens the time required for the traditional spraying process and improves the overall work efficiency. It can adapt to objects to be sprayed in various shapes and sizes, and has high adaptability and flexibility. Through the precise adjustment of the rotating parts and the multi-functional coating part, the spraying angle is always perpendicular to the surface of the object to be sprayed, ensuring the uniformity and consistency of the coating. The integrated drying device quickly dries after each spraying, reducing the risk of coating sagging and contamination, and improving the final coating quality.

[0027] In some specific embodiments, the magnetic field sensor in the drone body detects changes in the ambient magnetic field and transmits the detected signal to the signal processor. The signal processor calculates the strength of the reverse magnetic field based on the changes in the magnetic field and controls the compensation coil to generate a magnetic field of the same strength to offset it.

[0028] By adopting the above technical solutions, the stability of the painting UAV in a magnetic field interference environment is greatly improved, the continuity and stability of the communication and navigation systems are ensured, and damage to the painting UAV caused by accidents during the spraying process is avoided.

[0029] In some specific embodiments, it also includes:

[0030] Before spraying, the camera on the end face of the multifunctional coating unit detects the cleanliness of the surface of the object to be sprayed. If the surface is contaminated, the water nozzle and / or gas nozzle of the integrated spray gun cleans the surface;

[0031] During the spraying process, if the camera is contaminated, the high-pressure pump carried by the vehicle will deliver water to the high-pressure cleaning port, and the high-pressure cleaning port will spray water to clean the camera.

[0032] By adopting the above technical solution, a pretreatment step for the surface to be sprayed is added to the operation of the painting drone, so as to avoid the uniformity of the coating being affected by impurities on the surface of the object to be sprayed. At the same time, the camera will be contaminated by paint during the spraying process, affecting its function. The high-pressure cleaning port can clean the camera, and there is no need to build other structures into the drone body. It only needs to be connected to the high-pressure pump through a pipeline, thereby achieving lightweight painting drones.

[0033] The present application has the following beneficial effects compared with the prior art:

[0034] 1. A new type of rotatable multi-paint multi-dimensional drone system is proposed. This system breaks through the limitations of traditional drone spraying technology. Through its unique rotating mechanism and multi-dimensional spraying capabilities, it can accurately spray multiple types of paint in different spatial dimensions. The core of the system lies in its unique outward-spreading rotating drone structure design, which provides additional anti-collision protection for the entire machine through the collision protection ring of the rotor. In addition, the design also provides sufficient rotation space for the drone to work in different dimensions;

[0035] Second, an innovative spraying structure was designed, which integrates water / air cleaning and drying functions to provide an integrated pre-treatment solution for the surface to be sprayed. By cleverly integrating high-pressure water cleaning nozzles around the camera and taking advantage of the external carrier, the need for built-in motors is effectively avoided, thereby significantly reducing the overall weight of the drone and achieving lightweight equipment. This design not only improves the efficiency of surface treatment before spraying, but also optimizes the performance and carrying capacity of the drone by reducing unnecessary built-in components;

[0036] 3. In order to effectively deal with the problem of magnetic field interference during operation, an innovative dual-guarantee anti-interference built-in subsystem is designed. This subsystem consists of two key parts: anti-magnetic module and redundant communication module. The core components of the anti-magnetic module include magnetic field sensor, signal processor, and compensation coil. The magnetic field sensor is responsible for real-time monitoring of the magnetic field changes in the surrounding environment and transmitting the detected signal to the signal processor for in-depth analysis. The signal processor calculates the required reverse magnetic field strength based on the magnetic field changes, guides the compensation coil to generate the corresponding magnetic field to achieve dynamic cancellation of the magnetic field, thereby ensuring the stable flight of the drone in a complex magnetic field environment. The redundant communication module enhances the reliability of the system by deploying signal receivers at multiple key locations inside the drone body. This design allows the painting drone to seamlessly take over its functions when one of the signal receivers fails, ensuring the continuity and stability of the communication and navigation systems. Through this multiple guarantee mechanism, the painting drone can maintain the continuity and reliability of its operation when facing magnetic field interference or other potential risks. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings are included to provide a further understanding of the embodiments and are incorporated into and constitute a part of this specification. The accompanying drawings illustrate the embodiments and are used together with the description to explain the principles of the present invention. It will be easy to recognize other embodiments and many expected advantages of the embodiments because they become better understood by reference to the following detailed description. The elements of the drawings are not necessarily to scale with each other. The same reference numerals refer to corresponding similar parts.

[0038] Figure 1 is a schematic structural diagram of an aerial anti-magnetic coating UAV system according to an embodiment of the present application;

[0039] Figure 2 This is a schematic diagram of the structure of a painting drone of an aerial anti-magnetic painting drone system according to an embodiment of the present application;

[0040] Figure 3 is an enlarged schematic diagram of the structure of a painting drone of an aerial anti-magnetic painting drone system according to an embodiment of the present application;

[0041] Figure 4 is a schematic diagram of the rotation change of the painting drone according to an embodiment of the present application;

[0042] Figure 5 It is a flow chart of the anti-magnetic coating method according to an embodiment of the present application.

[0043] The meaning of the numbers in the figure:

[0044] Painting UAV 01, vehicle 02, multifunctional integrated tube 03, UAV body 04, multifunctional painting unit 05, rotating component 06, multi-rotor power unit 07, camera module 08, integrated spray gun 09, drying device 10, redundant communication module 11, anti-magnetic module 12, spray gun tube body 13, power frame 14, drive rotor 15, collision protection ring 16, support rod 17, camera 18, high-pressure cleaning port 19. DETAILED DESCRIPTION

[0045] In the following detailed description, reference is made to the accompanying drawings, which form a part of the detailed description and are shown by illustrative specific embodiments in which the present invention can be put into practice. To this end, directional terms, such as "top", "bottom", "left", "right", "up", "down", etc., are used with reference to the orientation of the figures described. Because the parts of the embodiments can be positioned in several different orientations, directional terms are used for the purpose of illustration and are by no means limiting. It should be understood that other embodiments may be utilized or logical changes may be made without departing from the scope of the present invention. Therefore, the following detailed description should not be adopted in a limiting sense, and the scope of the present invention is defined by the appended claims.

[0046] According to the first aspect of the present application, an aerial anti-magnetic coating drone system is proposed. Figure 1 The schematic diagram of the structure of the aerial anti-magnetic painting drone system according to the embodiment of the present application is shown. As shown in the figure, the system includes a painting drone 01 and a vehicle 02 for carrying materials. The vehicle 02 is connected to the painting drone 01 through a multifunctional integrated tube 03. The multifunctional integrated tube 03 has multiple built-in high-voltage pipelines (not shown in the figure) and power lines (not shown in the figure), which effectively avoids the need for built-in complex components. The vehicle 02 can carry a power supply, a high-pressure pump, a variety of paints, and a water source, etc., thereby significantly reducing the overall weight of the drone and achieving lightweight equipment. The specific principle and structure are combined Figure 2-4 Detailed description of the application.

[0047] Figure 2 A schematic diagram of the structure of a painting drone of an aerial anti-magnetic painting drone system according to an embodiment of the present application is shown. Figure 3 FIG. 1 is an enlarged schematic diagram of the structure of a painting drone of an aerial anti-magnetic painting drone system according to an embodiment of the present application. Figure 1-3As shown, the painting drone 01 includes a drone body 04 and a built-in subsystem. The front and rear sides and the left and right sides of the drone body 04 are symmetrically provided with a multifunctional painting part 05 and a rotating part 06. The rotating part 06 is rotatably connected to a multi-rotor power device 07. The rotating part 06 drives the drone body 04 to rotate inside the multi-rotor power device 07. A camera module 08, an integrated spray gun 09 and a drying device 10 are also provided on the end face of the multifunctional painting part 05. The high-pressure pipeline and power line of the multifunctional integrated pipe 03 are respectively used to feed the integrated spray gun 09 and provide power to the painting drone 01; the built-in subsystem includes a redundant communication module 11 and an anti-magnetic module 12. The anti-magnetic module 12 is used to sense the external magnetic field and generate a reverse magnetic field of equal strength; the anti-magnetic module 12 and the redundant communication module 11 are arranged on the inner side of the upper surface of the drone body 04, and the anti-magnetic module 12 is placed at the horizontal center of the drone body 04. The redundant communication module 11 is arranged in a circular array with the anti-magnetic module 12 as the center.

[0048] Through the above scheme, the unique rotating component 06 is used to achieve multi-dimensional spraying capability, and the symmetrically designed multifunctional coating part 05 can realize accurate spraying of various types of paints in different spatial dimensions. The multifunctional coating part 05 integrated with the camera module 08, the integrated spray gun 09 and the drying device 10 forms an innovative nozzle system, which can integrate water / air cleaning and drying functions, and provide an integrated pretreatment solution for the surface to be sprayed. The cooperation of the anti-magnetic module 12 and the redundant communication module 11 is used to form a double-protected anti-interference system, which can effectively deal with the interference of the external magnetic field to the drone during the spraying process. At the same time, the anti-magnetic module 12 is placed at the horizontal center of the drone body 04, and the external magnetic field is more effectively and accurately sensed and offset with the drone body 04 as the center, and it helps to balance the center of gravity of the drone body 04, making its flight more stable. The redundant communication module 11 is arranged in a circular array, which not only improves the space utilization rate, but also enables the anti-magnetic module 12 to effectively resist the communication interference of the redundant communication module caused by the external magnetic field, and reduces the impact on other internal components.

[0049] In a specific embodiment, the integrated spray gun 09 includes a T-shaped spray gun tube body 13 extending from the drone body 04, and the spray gun tube body 13 is provided with at least a gas nozzle, a water nozzle and a paint nozzle. In a specific application, the high-pressure pipeline of the multifunctional integrated pipe 03 corresponds to each nozzle, so that different paints, water sources and gases can be delivered to the integrated spray gun 09 for cleaning or spraying.

[0050] Preferably, the spray gun tube body 13 is not limited to being provided with the above-mentioned gas nozzles, water nozzles and paint nozzles, and nozzles with other specific functions can be added according to the application scenario and spraying requirements.

[0051] Through the above scheme, the pretreatment function of the surface to be sprayed is realized. During the spraying operation with a long time, the surface to be sprayed can be cleaned by the gas nozzle and / or the water nozzle before the spraying operation is carried out to avoid the phenomenon of impurities contaminating the surface to be sprayed.

[0052] In a specific embodiment, the multi-rotor power device 07 includes a power frame 14, a plurality of driving rotors 15 are arranged in an array around the power frame 14, a collision protection ring 16 is also arranged around the driving rotors 15, and a symmetrical support rod 17 extends vertically downward from the bottom of the power frame 14, and the end of the support rod 17 is rotatably connected to the rotating component 06.

[0053] Through the above scheme, the two support rods 17 rotate in coordination with the rotating component 06, so that the rotating component 06 can drive the drone body 04 to adjust the angle in the multi-rotor power device 07, further achieving the effect of multi-angle precision spraying, and at the same time can prevent the drone body 04 from maintaining a certain safety distance from the driving rotor 15. The setting of the collision protection ring 16 can prevent the painting drone 01 from being damaged by collision during high-altitude operations, and can reduce the influence of airflow in the horizontal direction on the spraying quality, thereby achieving a better spraying effect.

[0054] In a specific embodiment, the camera module 08 includes a camera 18 embedded in the end surface of the multifunctional coating portion 05 , and a plurality of high-pressure cleaning ports 19 are arranged around the outer surface of the camera 18 .

[0055] Through the above scheme, before spraying, the cleanliness of the surface to be sprayed can be detected by the camera 18, and the pre-treatment function can be realized in conjunction with the integrated spray gun 09. When the surface of the camera 18 is contaminated during the spraying process, the camera 18 is cleaned using the high-pressure cleaning port 19. The traditional anti-fouling treatment of the camera 18 generally adopts an electrically driven transparent protective film or an electrically driven airflow. These devices will embed motors inside the drone, which will increase the total weight of the drone.

[0056] In a specific embodiment, the anti-magnetic module 12 is composed of a magnetic field sensor (not shown in the figure) responsible for real-time detection of the magnetic field strength, a signal processor (not shown in the figure) responsible for calculating the reverse magnetic field strength, and a compensation coil (not shown in the figure) responsible for generating a reverse magnetic field. The magnetic field sensor, signal processor, and compensation coil are electrically connected in sequence.

[0057] Preferably, the magnetic field sensor includes but is not limited to Hall effect sensors, magnetoresistive sensors, fluxgate sensors and other sensors that can accurately sense the external magnetic field strength, and the signal processor includes but is not limited to DSP, microprocessor and other small-sized processors that can perform precise data analysis and calculations.

[0058] Through the above scheme, the magnetic field sensor can monitor the changes of the external magnetic field in real time during the operation of the painting drone 01, and the signal processor generates a magnetic field of the same intensity through the compensation coil to offset it, thereby realizing the function of anti-interference in the magnetic field.

[0059] In a specific embodiment, the redundant communication module 11 includes a plurality of independent signal receivers evenly distributed inside the drone body 04 .

[0060] Through the above scheme, multiple independent signal receivers form a redundantly designed communication structure. When one signal receiver is damaged, the remaining signal receivers can seamlessly take over its work, ensuring the continuity and stability of the communication and navigation systems. In conjunction with the anti-magnetic module 12, the painting drone 01 can fly in a complex magnetic field environment. When facing magnetic field interference or other potential risks, the painting drone 01 can maintain the continuity and stability of its operation.

[0061] Figure 4 FIG. 4 shows a schematic diagram of the rotation change of a painting drone according to an embodiment of the present application. Figure 1-4 As shown, the drone body 04 can switch between the horizontal state and the vertical state inside the multi-rotor power unit 07 under the control of the rotating component 06. In actual use, the working angle of the drone body 04 can be switched arbitrarily, not limited to horizontal or vertical. The use of this structure can not only adapt to the spraying of different target surfaces, but also switch the corresponding multifunctional coating part 05 according to needs.

[0062] Specifically, the spraying of the outer surface of a ship is used for illustration.

[0063] First, the vehicle 02 carries the materials to the vicinity of the ship and connects with the painting drone 01 through the multifunctional integrated tube 03 to complete the preparation work before spraying.

[0064] First, the side surface of the ship is sprayed, the painting drone 01 is remotely controlled to rise, and the drone body 04 is placed in a horizontal state perpendicular to the side surface of the ship, ready for spraying.

[0065] Before spraying begins, the cleanliness of the surface to be sprayed is detected by the camera 18. If the surface to be sprayed is contaminated, water / gas cleaning is performed through the integrated spray gun 09 before spraying.

[0066] During the spraying process, the spraying effect is detected in real time through the camera 18. If the camera 18 is contaminated during the spraying process, it is cleaned through the high-pressure cleaning port 19 to keep the real-time picture clean. In addition, the collision protection ring 16 on the outside of the driving rotor 15 protects the painting drone 01 from being hit during the spraying process, and the collision protection ring 16 also blocks the influence of the airflow generated by the rotation of the driving rotor 15 on the spraying effect, so that the spraying effect is better.

[0067] After a single local surface spraying is completed, the just-sprayed surface is quickly dried by the drying device 10 to prevent the surface from being contaminated by air impurities due to too long spraying time or too long intervals between different spraying materials.

[0068] The spraying of the ship surface is usually done by spraying different types of paint materials multiple times, and there are also requirements for the time interval between spraying different types of paint, which cannot be too short or too long. After the multifunctional coating unit 05 is used to complete the first spraying, the drone body 04 is controlled to rotate and the multifunctional coating unit 05 on the other side is used for the second spraying, and the above-mentioned process of inspection-cleaning-spraying-inspection is also used.

[0069] After the side painting of the ship is completed, the top painting is carried out. The painting drone 01 is switched to Figure 4 In the second form, the nozzle is aimed at the upper surface, and then the above process is repeated for spraying.

[0070] According to the second aspect of the present application, an anti-magnetic coating method is proposed, using the above-mentioned drone system, Figure 5 A flow chart of an antimagnetic coating method according to an embodiment of the present application is shown. As shown in the figure, the method includes:

[0071] The painting drone 01 is lifted to one side of the object to be sprayed, and the rotating component 06 adjusts the multifunctional painting part 05 on the front side to be perpendicular to the surface of the object to be sprayed, and is ready for spraying;

[0072] The multifunctional integrated pipe 03 transports the paint to the integrated spray gun 09 and sprays the surface of the object to be sprayed. After a single local surface spraying is completed, the drying device 10 quickly dries the sprayed surface;

[0073] After drying is completed, the rotating component 06 drives the drone body to rotate 180°, so that the multifunctional coating part 05 on the rear side is perpendicular to the surface of the object to be sprayed, and a second spraying is performed. After spraying is completed, the drying device 10 quickly dries the sprayed surface again.

[0074] Through the above scheme, the painting drone 01 can quickly adjust its position and perform multiple spraying and drying, which greatly shortens the time required for the traditional spraying process, improves the overall work efficiency, and can adapt to objects to be sprayed of various shapes and sizes. It has high adaptability and flexibility. Through the precise adjustment of the rotating part 06 and the multifunctional coating part 05, the spraying angle is always perpendicular to the surface of the object to be sprayed, ensuring the uniformity and consistency of the coating. The integrated drying device 10 performs rapid drying after each spraying, reducing the risk of coating sagging and contamination, and improving the final coating quality.

[0075] In a specific embodiment, it also includes:

[0076] The magnetic field sensor in the drone body 01 detects changes in the ambient magnetic field and transmits the detected signal to the signal processor. The signal processor calculates the strength of the reverse magnetic field based on the changes in the magnetic field and controls the compensation coil to generate a magnetic field of the same strength to offset it.

[0077] Through the above solution, the stability of the painting drone in the magnetic field interference environment is greatly improved, the continuity and stability of the communication and navigation systems are guaranteed, and the damage to the painting drone caused by accidents during the spraying process is avoided.

[0078] In a specific embodiment, it also includes:

[0079] Before spraying, the camera 18 on the end face of the multifunctional coating unit 05 detects the cleanliness of the surface of the object to be sprayed. If the surface is contaminated, the water nozzle and / or gas nozzle of the integrated spray gun 09 cleans the surface;

[0080] During the spraying process, if the camera 18 is contaminated, the high-pressure pump carried by the vehicle 02 delivers water to the high-pressure cleaning port 19 , and the high-pressure cleaning port 19 sprays water to clean the camera 18 .

[0081] Through the above scheme, a pretreatment step of the surface to be sprayed is added to the operation of the painting drone 01 to avoid the uniformity of the coating affected by impurities on the surface of the object to be sprayed. At the same time, the camera 18 will be contaminated by paint during the spraying process, affecting its function. The high-pressure cleaning port 19 can clean the camera 18, and there is no need to build other structures into the drone body 04. It only needs to be connected to the high-pressure pump through a pipeline, thereby realizing the lightweight of the painting drone 01.

[0082] This application proposes a new type of rotatable multi-paint multi-dimensional drone system. The system achieves precise spraying of multiple paints in different spatial dimensions through a unique outward-facing rotating structure and multi-dimensional spraying capabilities, and is equipped with a collision protection ring 16 to enhance anti-collision performance. In addition, the system also innovatively integrates water / air cleaning and drying functions, avoids the need for built-in motors through an external vehicle 02, reduces the weight of the drone, and improves the efficiency of surface treatment before spraying. In order to cope with magnetic field interference, the system is designed with a dual-protection anti-interference built-in subsystem, including an anti-magnetic module 12 and a redundant communication module 11, to ensure the stable flight and communication continuity of the painting drone 01 in a complex magnetic field environment. These innovative designs significantly improve the performance and operational reliability of the painting drone 01.

[0083] Obviously, those skilled in the art can make various modifications and changes to the embodiments of the present invention without departing from the spirit and scope of the present invention. In this way, if these modifications and changes are within the scope of the claims of the present invention and their equivalents, the present invention is also intended to cover these modifications and changes. The word "comprising" does not exclude the presence of other elements or steps not listed in the claims. The simple fact that certain measures are recorded in mutually different dependent claims does not indicate that the combination of these measures cannot be used to profit. Any reference numerals in the claims should not be considered to limit the scope.

Claims

1. An aerial anti-magnetic coating drone system, characterized in that: include: A painting drone comprises a drone body, wherein the front and rear sides and the left and right sides of the drone body are symmetrically provided with a multifunctional painting part and a rotating part, wherein the rotating part is rotatably connected to a multi-rotor power device, and the rotating part drives the drone body to rotate inside the multi-rotor power device, and a camera module, an integrated spray gun and a drying device are also provided on the end surface of the multifunctional painting part; A built-in subsystem is arranged inside the drone body, and the built-in subsystem includes a redundant communication module and an anti-magnetic module. The anti-magnetic module is used to sense the external magnetic field and generate a reverse magnetic field of equal strength; the anti-magnetic module and the redundant communication module are arranged on the inner side of the upper surface of the drone body, and the anti-magnetic module is placed at the horizontal center of the drone body, and the redundant communication modules are arranged in a circular array with the anti-magnetic module as the center.

2. The drone system according to claim 1, characterized in that: It also includes a vehicle for carrying materials, which is connected to the painting drone via a multifunctional integrated tube, and the multifunctional integrated tube has multiple built-in high-voltage pipelines and power lines, which are respectively used to feed the integrated spray gun and provide power to the painting drone.

3. The drone system according to claim 1, characterized in that: The integrated spray gun comprises a T-shaped spray gun tube body extending from the UAV body, and the spray gun tube body is at least protrudingly provided with a gas nozzle, a water nozzle and a paint nozzle.

4. The drone system according to claim 1, characterized in that: The multi-rotor power device includes a power frame, a plurality of driving rotors are arranged in an array around the power frame, a collision protection ring is also arranged around the driving rotor, and a symmetrical support rod extends vertically downward from the bottom of the power frame, and the end of the support rod is rotatably connected to the rotating component.

5. The drone system according to claim 1, characterized in that: The camera module comprises a camera embedded in the end surface of the multifunctional coating part, and a plurality of high-pressure cleaning ports are arranged around the outer surface of the camera.

6. The drone system according to claim 1, characterized in that: The anti-magnetic module consists of a magnetic field sensor responsible for real-time detection of magnetic field strength, a signal processor responsible for calculating the reverse magnetic field strength, and a compensation coil responsible for generating a reverse magnetic field. The magnetic field sensor, signal processor, and compensation coil are electrically connected in sequence.

7. The drone system according to claim 1, characterized in that: The redundant communication module includes a plurality of independent signal receivers evenly distributed inside the drone body.

8. An anti-magnetic coating method, using the UAV system as described in any one of claims 1 to 7, characterized in that: include: The painting drone is lifted to one side of the object to be sprayed, and the rotating component adjusts the multifunctional coating part on the front side to be perpendicular to the surface of the object to be sprayed, and prepares for spraying; The multifunctional integrated pipe transports the paint to the integrated spray gun, and sprays the surface of the object to be sprayed. After a single local surface spraying is completed, the drying device quickly dries the sprayed surface; After the drying is completed, the rotating component drives the drone body to rotate 180 degrees, so that the multifunctional coating part on the rear side is perpendicular to the surface of the object to be sprayed, and a second spraying is performed. After the spraying is completed, the drying device quickly dries the sprayed surface again.

9. The antimagnetic coating method according to claim 8, characterized in that: Also includes: The magnetic field sensor in the drone body detects changes in the ambient magnetic field and transmits the detected signal to the signal processor. The signal processor calculates the strength of the reverse magnetic field based on the magnetic field changes and controls the compensation coil to generate a magnetic field of the same strength for offsetting.

10. The antimagnetic coating method according to claim 8, characterized in that: Also includes: Before spraying, the camera on the end face of the multifunctional coating part detects the cleanliness of the surface of the object to be sprayed, and if the surface is contaminated, the water nozzle and / or gas nozzle of the integrated spray gun cleans the surface; During the spraying process, if the camera is contaminated, the high-pressure pump carried by the vehicle delivers water to the high-pressure cleaning port, and the high-pressure cleaning port sprays water to clean the camera.

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