Air film silo repair method and repair terminal

Abstract

The air film warehouse repair method includes: after receiving the inspection instruction, the controller generates a first driving signal to drive the repair terminal to fly outside the air film warehouse and collect the thermal image of the outer surface of the air film warehouse; generates an inspection mode control signal to control the air conditioning device to operate in the heating mode and the air supply direction is consistent with the moving direction of the repair terminal; receives the thermal image of the outer surface of the air film warehouse and identifies the image point whose temperature is lower than the set threshold; after identifying the image point, generates a second driving signal to drive the repair terminal to fly in the air film warehouse to the position corresponding to the image point; after the repair terminal flies to the position corresponding to the image point, generates a repair driving signal to the repair terminal, drives the repair terminal to attach the repair element to the position corresponding to the image point on the inner wall of the air film warehouse; the repair terminal is a drone, and the drone is connected to the controller in communication; and a drone is also provided. The present invention can realize automatic inspection and repair of air film warehouses.

Description

Technical Field

[0001] The present invention belongs to the technical field of air film silos, and in particular relates to an air film silo repair method and an air film silo repair terminal. Background Art

[0002] In the prior art, the inspection and repair of air film silos usually rely on manual operation. The common repair method is to deflate the air film silo after the leak is found by naked eyes. Workers climb to the leak with the help of ladders and carry out manual repairs with portable hot melt equipment. This method can only rely on manual inspection, and the missed detection rate is high. Moreover, manual repair of leaks at high places is also prone to accidents of falling from high altitudes, which is less safe. In addition, manual repairs cannot verify the repair effect, and the overall efficiency is low.

[0003] The above information disclosed in the background technology is only used to increase the understanding of the background technology of the present application, and therefore, it may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0004] Aiming at the problems in the prior art of inspection and repair of air film silos, such as high missed detection rate, inability to verify repair effects and easy occurrence of safety accidents, the present invention designs and provides an air film silo repair method.

[0005] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solutions:

[0006] A method for repairing an air film warehouse, comprising the following steps: after receiving an inspection instruction, the controller generates a first drive signal to a repair terminal, drives the repair terminal to fly outside the air film warehouse and collects a thermal image of the outer surface of the air film warehouse; after receiving the inspection instruction, the controller generates an inspection mode control signal to an air conditioning device arranged in the air film warehouse, controls the air conditioning device to operate in a heating mode, and drives the air supply direction of the air conditioning device to be consistent with the moving direction of the repair terminal; the controller receives the thermal image of the outer surface of the air film warehouse sent by the repair terminal, and identifies the image points in the thermal image of the outer surface of the air film warehouse whose temperature is lower than a set threshold; after identifying the image points in the thermal image of the outer surface of the air film warehouse whose temperature is lower than a set threshold, the controller generates a second drive signal to the repair terminal, drives the repair terminal to fly in the air film warehouse to a position corresponding to the image point; after the repair terminal flies to the position corresponding to the image point, the controller generates a repair drive signal to the repair terminal, drives the repair terminal to attach a repair element to the position corresponding to the image point on the inner wall of the air film warehouse; wherein the repair terminal is a drone, and the drone is connected to the controller for communication,

[0007] Furthermore, after identifying an image point in the thermal image of the outer surface of the air film chamber whose temperature is lower than a set threshold, the controller generates a second drive signal to the repair terminal, driving the repair terminal to fly in the air film chamber to a position corresponding to the image point and then keep hovering; the controller drives the robotic arm disposed on the repair terminal to move, and attaches the repair element disposed at the end of the robotic arm to the position on the inner wall of the air film chamber corresponding to the image point.

[0008] Furthermore, after receiving the inspection instruction, the controller generates a first drive signal to the repair terminal, driving the repair terminal to fly at a set speed outside the air film warehouse according to a set route and collect thermal images of the outer surface of the air film warehouse in several set areas one by one according to the set route; after receiving the inspection instruction and before the repair terminal flies to the set area, the controller drives the air supply area of ​​the air-conditioning device to cover the set area that the repair terminal is about to sample according to the set route.

[0009] Furthermore, after receiving the inspection instruction, the controller generates a first drive signal to the first UAV, drives the first UAV to fly at a set speed outside the air film warehouse according to a first set route, and collects thermal images of the outer surface of the air film warehouse in several set areas one by one according to the first set route; the controller receives the thermal image of the outer surface of the air film warehouse in the set area sent by the first UAV, and identifies the image points in the thermal image of the outer surface of the air film warehouse in the set area whose temperature is lower than the set threshold; after identifying the image points in the image of the outer surface of the air film warehouse in the set area whose temperature is lower than the set threshold, the controller generates a second drive signal to the second UAV, drives the second UAV to fly in the air film warehouse to a position corresponding to the image point; after the second UAV flies to the position corresponding to the image point, the controller generates a repair drive signal to the second UAV, drives the second UAV A repair element is attached to the position of the inner wall of the air film warehouse corresponding to the image point; after the first UAV flies to the end point of the first set route, the controller generates a third drive signal to the first UAV, drives the first UAV to fly outside the air film warehouse at a set speed according to the second set route and collects thermal images of the outer surface of the air film warehouse in several set areas one by one according to the second set route; wherein the second set route is generated according to the flight trajectory of the second UAV; the controller receives the thermal image of the outer surface of the air film warehouse in the set area sent by the first UAV, and identifies the image points in the thermal image of the outer surface of the air film warehouse in the set area whose temperature is lower than the set threshold; after identifying that there are no image points with a temperature lower than the set threshold in the images of the outer surface of the air film warehouse in all set areas, the controller generates and outputs a repair completion signal to drive the air-conditioning device to resume normal working mode.

[0010] Furthermore, after the controller again identifies that there are image points with temperatures lower than a set threshold in the image of the outer surface of the air film chamber in the set area, the controller again generates a second driving signal to the second UAV, drives the second UAV to fly in the air film chamber to a position corresponding to the image point, and repeats the above process until it is identified that there are no image points with temperatures lower than the set threshold in the image of the outer surface of the air film chamber in all set areas, then generates and outputs a repair completion signal, and drives the air-conditioning device to resume normal working mode.

[0011] The second aspect of the present invention provides an air film warehouse repair terminal, comprising: a drone, which is communicatively connected to a controller; the drone is configured to, after receiving a first drive signal sent by the controller, fly outside the air film warehouse and collect a thermal image of the outer surface of the air film warehouse; and after receiving a second drive signal sent by the controller, fly inside the air film warehouse to a position corresponding to an image point; and after receiving a repair drive signal sent by the controller, attach a repair element to the position of the inner wall of the air film warehouse corresponding to the image point; wherein the first drive signal is generated by the controller after receiving an inspection instruction; the second drive signal is generated by the controller after identifying the image point in the thermal image of the outer surface of the air film warehouse whose temperature is lower than a set threshold, and the repair drive signal is generated by the controller when the position signal fed back by the drone matches the position corresponding to the image point.

[0012] Furthermore, it also includes: a mechanical arm, which is arranged on the drone, and a repair element is arranged at the end of the mechanical arm.

[0013] Further, it includes: a first UAV, which is communicatively connected to the controller; a second UAV, which is communicatively connected to the controller; the first UAV is configured to, after receiving a first driving signal sent by the controller, fly according to a first set route and a set speed outside the air film warehouse and collect thermal images of the outer surface of the air film warehouse in several set areas one by one according to the first set route; and after receiving a third driving signal sent by the controller, fly according to a second set route and a set speed outside the air film warehouse and collect thermal images of the outer surface of the air film warehouse in several set areas one by one according to the second set route; the second UAV is configured to, after receiving a second driving signal sent by the controller, fly in the air film warehouse to a position corresponding to the image point, and after receiving a repair driving signal sent by the controller, attach a repair element to the position on the inner wall of the air film warehouse corresponding to the image point; wherein the second set route is generated according to the flight trajectory of the second UAV.

[0014] Furthermore, a protective cover is provided outside the propeller of the drone.

[0015] Furthermore, the repair element is a suction cup, and an adhesive is provided on the end surface of the suction cup.

[0016] Compared with the prior art, the advantages and positive effects of the present invention are:

[0017] Through the above method provided by the present invention, leak points can be accurately identified during the inspection process, and the repair terminal performs all detection and repair operations without the need for operators to work at height, thereby significantly improving safety and detection effects.

[0018] After reading the specific embodiments of the present invention in conjunction with the accompanying drawings, other features and advantages of the present invention will become more clear. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0020] Figure 1 It is a structural schematic diagram of an air film warehouse applicable to the repair method provided by the present invention;

[0021] Figure 2 This is a flow chart of a first specific embodiment of the air film silo repair method provided by the present invention;

[0022] Figure 3 This is a flow chart of a second specific embodiment of the air film silo repair method provided by the present invention;

[0023] Figure 4 For the use of Figure 3 The schematic diagram of the principle of the repair method shown in the figure;

[0024] Figure 5 This is a schematic diagram of the structure of the first UAV in the air film warehouse repair terminal provided by the present invention;

[0025] Figure 6 This is a schematic diagram of the structure of the second UAV in the air film warehouse repair terminal provided by the present invention;

[0026] Figure 7 For the use of Figure 5 The schematic diagram of the structure of the first UAV when sampling the thermal image of the outer surface of the air film cabin;

[0027] Figure 8 For the use of Figure 6 The structure diagram shown is when the second UAV attaches the repair element to the inner wall of the air film chamber at a position corresponding to the image point. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0029] It should be noted that in the description of the present invention, the terms "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings, which are only for the convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0030] In view of the problems in the prior art of inspection and repair of air film silos, such as high missed detection rate, inability to verify the repair effect and easy to cause safety accidents, the present invention designs and provides an air film silo repair method. Figure 1 The figure shows a schematic diagram of the structure of an air film warehouse suitable for the repair method provided by the present invention. The air film warehouse 1 is a building form that uses the pressure difference between the inside and outside of the light film material to tension the light film material to form an airtight space. The air film warehouse 1 fixes the film material 10 around the ground foundation structure 11, and uses the air supply system to increase the air pressure on the indoor side to the set pressure, so that a pressure difference is generated between the indoor side and the outdoor side to form a certain structural strength to resist external forces. The air film warehouse 1 uses air pressure to form a support, without the need for beams and columns, and can construct a large-area building space that is completely clear. Figure 1 As shown, according to the different functions of the air film warehouse, the air film warehouse 1 can be optionally provided with different types of entrances and exits, such as a revolving door 12, an emergency exit 13, and a cargo entrance and exit 14. An outdoor unit 15 of an air conditioner and a fresh air device 16 are provided on one side of the air film warehouse 1 to adjust the internal air temperature and cleanliness of the air film warehouse. A lighting device 18 is provided at the top of the air film warehouse 1.

[0031] During the use of the air film silo, the membrane material will inevitably have leaks, which will reduce the airtightness of the air film silo, requiring additional air supply to meet the pressure requirements and increasing energy consumption. At the same time, long-term untreated leaks will have the risk of further deterioration, reducing the overall service life of the air film silo. In order to ensure the timely detection of leaks and overcome the problems of high missed detection rate in manual operation, inability to verify the repair effect and easy to cause safety accidents, a method for repairing air film silos is designed and proposed. Figure 1 Shown is a flow chart of an air film silo repair method, which specifically includes the following steps.

[0032] Step S11: after receiving the inspection instruction, the controller generates a first driving signal to the repair terminal, driving the repair terminal to fly around the air film warehouse and collect thermal images of the outer surface of the air film warehouse.

[0033] The controller of the air film warehouse is preferably implemented by a control device integrated with a processor, and the control device is integrated with a storage unit, necessary peripheral circuits and a communication module, or includes at least one system on a chip. The controller is connected to the air conditioning device, the fresh air device and the lighting device in a wired or wireless manner, and optionally controls the start and stop of the air conditioning device, the working mode, the start and stop of the fresh air device, the working mode and the start and stop of the lighting device, and optionally receives data detected by various sensors, such as the real-time temperature in the air film warehouse, whether the revolving door 12, the emergency exit 13 and the cargo entrance and exit 14 are closed, etc. The inspection instruction can be generated by a timing module connected to the controller in communication, for example, when the set inspection cycle is reached, or when the set inspection cycle is reached and the revolving door 12, the emergency exit 13 and the cargo entrance and exit 14 are all closed, or it can be generated by a control device connected to the controller in communication, and the control device is preferably integrated with a human-computer interaction interface, and the inspection instruction is generated through the human-computer interaction interface. The control device can be a computer, a PDA, a tablet computer, a smart phone, a wearable device or other similar electronic terminal.

[0034] After receiving the inspection instruction, the controller starts the inspection process. A first drive signal is generated to the repair terminal. The repair terminal is a drone. The drone is communicatively connected to the controller. In an optional embodiment, the drone includes a manipulator and a drone body. In this case, the controller is communicatively connected to the manipulator. A control chip is provided in the drone or the manipulator of the drone. The control chip can execute a program pre-stored in a storage unit matched thereto to control the operation of the drone and the posture of the drone, such as maintaining hovering. How to control the operation of the drone and the posture of the drone can be controlled in the manner of the prior art, which is not the focus of the present invention and will not be elaborated here. A thermal imaging sensor 20 (infrared thermal imaging sensor 20) is provided on the drone, and the controller drives the repair terminal to fly outside the air film warehouse and collect thermal images of the outer surface of the air film warehouse.

[0035] Step S12: In another aspect, after receiving the inspection instruction, the controller generates an inspection mode control signal to the air conditioner, controls the air conditioner to operate in a heating mode, and drives the air supply direction of the air conditioner to be consistent with the moving direction of the repair terminal.

[0036] In the preferred real-time mode, the controller receives the outdoor ambient temperature detection signal and controls the air conditioning device with a target temperature higher than the real-time outdoor ambient temperature, so that the air supply temperature is much higher than the current outdoor ambient temperature. Since the air supply direction of the air conditioning device is consistent with the moving direction of the repair terminal, the patch terminal collects the thermal image of the heated outer surface of the air film warehouse.

[0037] Step S13: The repair terminal feeds back the sampled thermal image of the outer surface of the air film warehouse to the controller. After receiving the thermal image of the outer surface of the air film warehouse sent by the repair terminal, the controller identifies the image points in the thermal image of the outer surface of the air film warehouse whose temperature is lower than the set threshold. For ease of description, in the following text, the area in the thermal image of the outer surface of the air film warehouse where the temperature is lower than the set threshold is defined as an "image point". It should be noted that "image point" does not refer to only one pixel point, but an area in the thermal image of the outer surface of the air film warehouse where the temperature is lower than the set threshold and remains continuous. Since the repair terminal collects the thermal image of the heated outer surface of the air film warehouse, if there are image points in the thermal image whose temperature is lower than the set threshold, it means that the temperature of the position corresponding to the image point is significantly lower; this position is connected to the external environment, that is, there is a leak on the film material.

[0038] Step S14: After identifying the image point whose temperature in the thermal image of the outer surface of the air film chamber is lower than the set threshold, the controller generates a second driving signal to the repair terminal, driving the repair terminal to fly in the air film chamber to the position corresponding to the image point.

[0039] The thermal image of the outer surface of the air film chamber is a plane image. The controller can calculate the spatial position of the image point based on the conversion of plane coordinates and three-dimensional coordinates, and drive the repair terminal to fly to the spatial position.

[0040] Step S15: After the repair terminal flies to the position corresponding to the image point, the controller generates a repair drive signal to the drive terminal, and drives the repair terminal to attach the repair element 25 to the position on the inner wall of the air film chamber corresponding to the image point.

[0041] In a preferred embodiment, the repair element 25 is a suction cup with an adhesive on the end surface. When the suction cup is adsorbed on the position corresponding to the image point, since the pressure inside the air film chamber is higher than the external pressure and the suction cup has adhesive force, the repair element 25 can be prevented from falling off, and a good adsorption effect can be achieved.

[0042] Through the above method provided by the present invention, leak points can be accurately identified during the inspection process, and the repair terminal performs all detection and repair operations without the need for operators to work at height, thereby significantly improving safety and detection effects.

[0043] The repair process is further introduced below. In a preferred embodiment of the present invention, after identifying the image point in the thermal image of the outer surface of the air film chamber whose temperature is lower than the set threshold, the controller generates a second drive signal to the repair terminal, drives the repair terminal to fly in the air film chamber to the position corresponding to the image point and then keeps hovering, while outputting a position confirmation signal to the controller.

[0044] The repair terminal is provided with a mechanical arm, which includes a plurality of connecting rods that can be movably connected to each other. The end of the mechanical arm clamps the repair element 25 through a clamp. The controller preferably sets the maximum distance between the end of the mechanical arm of the repair terminal in the hovering state and the position of the image point to be 90% of the maximum extension length of the mechanical arm, so as to accurately achieve the repair operation of attaching the repair element 25 to the position of the image point. The positioning of the drone can adopt GPS technology or UWB technology.

[0045] In some preferred embodiments of the present invention, after receiving the inspection instruction, the controller generates a first drive signal to the repair terminal, drives the repair terminal to fly at a set speed outside the air film warehouse according to a set route, and collects thermal images of the outer surface of the air film warehouse in several set areas one by one according to the set route. This divided detection method can avoid repeated repairs due to repeated detection of the same leak point due to the detection range or installation angle of the infrared sensor, and can also avoid missed detections. At the same time, after receiving the inspection instruction and before the repair terminal flies to the set area, the controller drives the air supply area of ​​the air conditioning device to cover the set area that the repair terminal is about to sample according to the set route. Figure 4 As shown, exemplarily, multiple indoor units of air-conditioning devices (such as AC1 and AC2 in the figure) are optionally provided in the air film warehouse, and the repair terminal flies at a set speed outside the air film warehouse according to a set route (A1-A9) and collects thermal images of the outer surface of the air film warehouse in the set area one by one. Before the controller receives the inspection instruction and the repair terminal flies to the set area A1, it first controls the indoor unit AC1 of the air-conditioning device to be in the heating working mode, and the air supply area covers the set area A1 to ensure that it is fully heated to accurately detect the leakage point. The air supply area of ​​the indoor unit AC1 can be achieved by the rotation direction of the air guide plate of the controller. In a preferred embodiment, the repair terminal is set to take off after a period of time after the indoor unit AC1 enters a stable working state (the compressor startup protection ends), so as to fully ensure the heating effect of the air-conditioning device and avoid detection failure near the starting point.

[0046] In some optional real-time methods, the repair terminal is implemented by one or a group of drones, that is, the corresponding repair work is performed after all inspections are completed. In a preferred embodiment, the repair terminal can preferably be implemented by two or two groups of drones, which is more suitable for large air film warehouses. Figure 3 and Figure 4 As shown, for the method of using two or two groups of drones, the air film warehouse repair method includes the following steps:

[0047] After receiving the inspection instruction, the controller generates a first driving signal to the first drone 19, driving the first drone 19 to fly at a set speed around the air film warehouse according to the first set route R1 and collect thermal images of the outer surface of the air film warehouse in several set areas one by one according to the first set route R1. Figure 4 As an example, the first drone 19 is driven to fly at a set speed around the air film chamber according to a first set route R1 (A1-A9) and collect thermal images of the outer surface of the air film chamber in each set area one by one in the order of A1, A2, A3...A9.

[0048] The controller receives the thermal image of the outer surface of the air film warehouse in the set area sent by the first drone 19, and identifies image points in the thermal image of the outer surface of the air film warehouse in the set area whose temperature is lower than a set threshold.

[0049] After identifying the image points in the image of the outer surface of the air film chamber in the set area whose temperature is lower than the set threshold, the controller generates a second driving signal to the second UAV 21, driving the second UAV 21 to fly in the air film chamber to the position corresponding to the image point to prepare for performing the repair operation.

[0050] After the second drone 21 flies to the position corresponding to the image point (i.e., after receiving the position confirmation signal output by the second drone 21), the controller generates a repair drive signal to the second drone 21, driving the second drone 21 to attach the repair element 25 to the position corresponding to the image point on the inner wall of the air film chamber. After the repair is completed, the second drone 21 returns and remains in a standby state; after the second drone 21 identifies the image point again, it prepares and performs the repair operation again. For example, the repair operation is performed in the A2 and A4 areas respectively, and the controller records the flight trajectory of the second drone 21.

[0051] After the first drone 19 flies to the end point of the first set route R1 (for example, after receiving the feedback signal output by the first drone flying to A9), the controller generates a third driving signal to the first drone 19, driving the first drone 19 to fly outside the air film warehouse at a set speed according to the second set route R2 and collect thermal images of the outer surface of the air film warehouse in several set areas one by one according to the second set route R2; wherein the second set route R2 is generated according to the flight trajectory of the second drone 21, and the same method is used as follows. Figure 4 In the example shown, the second set route R2 is A2-A4. The first drone 19 performs a re-inspection to identify whether the repair of the second drone 21 is effective. During the re-inspection, the first drone 19 only re-samples the thermal images of the outer surface of the air film chamber in several set areas in the second set route R2, such as the A2 area and the A4 area in this example. During the re-inspection, the indoor unit of the air conditioner preferably follows the working mode of pre-heating, that is, the heating is completed before the first drone 19.

[0052] The controller receives the thermal image of the outer surface of the air film warehouse in the set area sent by the first drone 19, and identifies the image points in the thermal image of the outer surface of the air film warehouse in the set area whose temperature is lower than the set threshold value;

[0053] After the controller identifies that there are no image points with a temperature lower than the set threshold in the outer surface images of the air film warehouse in all set areas, it indicates that the repair is successful, generates and outputs a repair completion signal, and drives the air conditioning device to resume normal working mode.

[0054] After the controller once again identifies that there are image points with temperatures lower than the set threshold in the image of the outer surface of the air film chamber in the set area, it indicates that the leakage point at the position corresponding to the image point is large and a single repair cannot achieve complete repair. Therefore, the controller generates a second drive signal to the second UAV 21 again, driving the second UAV 21 to fly in the air film chamber to the position corresponding to the image point. The above process is repeated until it is identified that there are no image points with temperatures lower than the set threshold in the image of the outer surface of the air film chamber in all set areas. The repair is then completed, and a repair completion signal is generated and output to drive the air-conditioning device to resume normal working mode.

[0055] The second aspect of the present invention designs and provides an air film silo repair terminal to execute the repair method as described in the above embodiment.

[0056] The air film chamber repair terminal includes a drone that is communicatively connected to the controller.

[0057] The drone is configured to fly outside the air film warehouse and collect the thermal image of the outer surface of the air film warehouse after receiving the first driving signal sent by the controller; and fly inside the air film warehouse to the position corresponding to the image point after receiving the second driving signal sent by the controller; and attach the repair element 25 to the position corresponding to the image point on the inner wall of the air film warehouse after receiving the repair driving signal sent by the controller; wherein the first driving signal is generated by the controller after receiving the inspection instruction; the second driving signal is generated by the controller after identifying the image point whose temperature in the thermal image of the outer surface of the air film warehouse is lower than the set threshold, and the repair driving signal is generated by the controller when the position signal fed back by the drone matches the position corresponding to the image point. The thermal image of the outer surface of the air film warehouse is sampled by the thermal imaging sensor 20 (infrared thermal imaging sensor).

[0058] The drone is provided with a mechanical arm, which is composed of a plurality of relatively movable connecting rods (such as connecting rod 23 and connecting rod 24 in the figure). The connecting rod is driven by a motor. A repair element 25 is provided at the end of the mechanical arm. The repair element 25 is preferably a suction cup, and an adhesive 26 is provided on the end surface of the suction cup. In order to protect the film material of the air film warehouse from damage, a protective cover 27 is provided outside the propeller of the drone. The drone can be optionally equipped with a manipulator, and the manipulator is configured to output a control signal to the motor to drive the relative movement of the connecting rod. The posture control of the mechanical arm can use the control method of the existing manipulator, such as the control method of the manipulator attached to the assembly line, which is not the focus of the invention of the present invention and will not be repeated here.

[0059] In a preferred embodiment, the repair terminal includes a first drone 19 that is communicatively connected to the controller, and a second drone 21 that is also communicatively connected to the controller. The first drone 19 is configured to, after receiving a first driving signal sent by the controller, fly in the periphery of the air film warehouse according to a first set route and a set speed and collect thermal images of the outer surface of the air film warehouse in several set areas one by one according to the first set route; and after receiving a third driving signal sent by the controller, fly in the periphery of the air film warehouse according to a second set route and a set speed and collect thermal images of the outer surface of the air film warehouse in several set areas one by one according to the second set route; the second drone 21 is configured to, after receiving a second driving signal sent by the controller, fly in the air film warehouse to a position corresponding to an image point, and after receiving a repair driving signal sent by the controller, attach the repair element 25 to a position corresponding to the image point on the inner wall of the air film warehouse; wherein the second set route is generated according to the flight trajectory of the second drone 21.

[0060] The controller is preferably implemented by a control device integrated with a processor, in which a storage unit, necessary peripheral circuits and a communication module are integrated, or at least one system on a chip is included. The controller is connected to the air conditioning device, the fresh air device and the lighting device in a wired or wireless manner, and can optionally control the start and stop of the air conditioning device, the start and stop of the fresh air device, the work mode and the start and stop of the lighting device, and can optionally receive data detected by various sensors, such as the real-time temperature in the air film warehouse, whether the revolving door 12, the emergency exit 13 and the cargo entrance 14 are closed, etc.

[0061] The air film silo repair terminal provided by the present invention can realize automatic inspection and automatic repair of air film silo leaks, and has the advantage of high intelligence.

[0062] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for a person skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to replace some of the technical features therein by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions claimed to be protected by the present invention.

Claims

1. A method for repairing an air film silo, characterized in that: The repair terminal includes a first drone and a second drone. The air film silo repair method includes the following steps: After receiving the inspection instruction, the controller generates a first driving signal to the first drone, drives the first drone to fly outside the air film warehouse according to a first set route, and collects thermal images of the outer surface of the air film warehouse in several set areas one by one according to the first set route; generates an inspection mode control signal to the air conditioning device arranged in the air film warehouse, controls the air conditioning device to operate according to the heating mode, drives the air supply direction of the air conditioning device to be consistent with the moving direction of the first drone, and the air supply area covers the set area that the first drone is about to sample according to the first set route; wherein, the controller receives the outdoor ambient temperature detection signal, and controls the air conditioning device so that the air supply temperature is higher than the current outdoor ambient temperature; The controller receives the thermal image of the outer surface of the air film warehouse sent by the first drone, and identifies an image point in the thermal image of the outer surface of the air film warehouse where the temperature is lower than a set threshold, wherein the image point is an area in the thermal image of the outer surface of the air film warehouse where the temperature is lower than the set threshold and remains continuous; After identifying an image point in the thermal image of the outer surface of the air film chamber whose temperature is lower than a set threshold, the controller generates a second driving signal to the second UAV, driving the second UAV to fly in the air film chamber to a position corresponding to the image point; After the second drone flies to the position corresponding to the image point, the controller generates a repair driving signal to the second drone, driving the second drone to attach the repair element to the position corresponding to the image point on the inner wall of the air film chamber; after the repair is completed, the second drone returns and remains in a standby state; After the first UAV flies to the end point of the first set route, the controller generates a third driving signal to the first UAV, drives the first UAV to fly outside the air film warehouse according to the second set route, and collects thermal images of the outer surface of the air film warehouse in several set areas one by one according to the second set route, wherein the second set route is generated according to the flight trajectory of the second UAV; the first UAV performs a re-inspection to identify whether the repair of the second UAV is effective, and the air conditioning device completes heating before the re-inspection of the first UAV; After the controller identifies that there are no image points with a temperature lower than a set threshold value in the image of the outer surface of the air film warehouse in all set areas, it generates and outputs a repair completion signal to drive the air conditioning device to resume a normal working mode; The first UAV and the second UAV are both in communication connection with a controller.

2. The air film silo repair method according to claim 1, characterized in that: After identifying an image point in the thermal image of the outer surface of the air film chamber whose temperature is lower than a set threshold, the controller generates a second driving signal to the second UAV, driving the second UAV to fly to a position corresponding to the image point in the air film chamber and then keep hovering; The controller drives the mechanical arm disposed on the second UAV to move, and attaches the repair element disposed at the end of the mechanical arm to the position of the inner wall of the air film warehouse corresponding to the image point.

3. The air film silo repair method according to claim 1, characterized in that: After the controller again identifies that there are image points with temperatures lower than the set threshold in the image of the outer surface of the air film warehouse in the set area, the controller again generates a second driving signal to the second UAV, drives the second UAV to fly in the air film warehouse to the position corresponding to the image point, and repeats the above process until it is identified that there are no image points with temperatures lower than the set threshold in the image of the outer surface of the air film warehouse in all set areas. Then the repair is completed, and a repair completion signal is generated and output to drive the air-conditioning device to resume normal working mode.

4. An air film silo repair terminal, characterized in that: include: a first drone, the first drone being in communication with the controller; a second drone, the second drone being in communication with the controller; The first drone is configured to fly around the air film warehouse according to a first set route after receiving a first driving signal sent by the controller, and collect thermal images of the outer surface of the air film warehouse in several set areas one by one according to the first set route; wherein, after receiving the inspection instruction, the controller generates an inspection mode control signal to the air conditioning device arranged in the air film warehouse, controls the air conditioning device to operate according to the heating mode, drives the air supply direction of the air conditioning device to be consistent with the moving direction of the repair terminal, and the air supply area covers the set area that the first drone is about to sample according to the first set route; the controller receives the outdoor ambient temperature detection signal, and controls the air conditioning device so that the air supply temperature is higher than the current outdoor ambient temperature; After receiving the second driving signal sent by the controller, the second drone flies to a position corresponding to the image point in the air film chamber; after receiving the repair driving signal sent by the controller, the repair element is attached to the position corresponding to the image point on the inner wall of the air film chamber; After receiving the third driving signal sent by the controller, the first drone flies along a second set route outside the air film warehouse and collects thermal images of the outer surface of the air film warehouse in several set areas one by one according to the second set route; the first drone performs a re-inspection to identify whether the repair of the second drone is effective; the air conditioning device completes heating before the re-inspection of the first drone; After receiving the second driving signal again, the second drone flies again to the position of the image point in the air film capsule; the above process is repeated until it is identified that there are no image points with a temperature lower than the set threshold in the air film capsule outer surface image of all set areas, and the repair is completed; the controller generates and outputs a repair completion signal to drive the air conditioning device to resume normal working mode; Among them, the first driving signal is generated by the controller after receiving the inspection instruction; the second driving signal is generated by the controller after identifying the image point in the thermal image of the outer surface of the air film warehouse whose temperature is lower than the set threshold; the image point is an area in the thermal image of the outer surface of the air film warehouse where the temperature is lower than the set threshold and remains continuous; the repair driving signal is generated by the controller when the position signal fed back by the second UAV matches the position corresponding to the image point; the third driving signal is generated after the first UAV flies to the end point of the first set route; the second set route is generated according to the flight trajectory of the second UAV.

5. The air film silo repair terminal according to claim 4, characterized in that: include: A mechanical arm is arranged on the second UAV, and a repair element is arranged at the end of the mechanical arm.

6. The air film silo repair terminal according to claim 4, characterized in that: A protective cover is arranged outside the wing propeller of the UAV.

7. The air film silo repair terminal according to claim 4, characterized in that: The repair element is a suction cup, and an adhesive is arranged on the end surface of the suction cup.

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