Unmanned aerial vehicle marking mechanism for calibrating installation position of power transmission line spacer and calibration method

Abstract

The invention discloses an unmanned aerial vehicle marking mechanism for calibrating the installation position of a power transmission line spacer and a calibration method, and relates to the technical field of power transmission line spacer construction. A traditional method for calibrating the installation position of the spacer depends on manual work or a climbing robot for calibration, efficiency is low, and high safety risks exist. The device comprises a main body, a counterweight rod, a paint bin, a top end sealing cover, a resistance measurement sensor, a gravity sensor and a communication assembly, the communication assembly is provided with a wireless transmission module, and the top end sealing cover is connected with an unmanned aerial vehicle in a hanging manner. The complete unmanned aerial vehicle marking mechanism is constructed, the paint bin is used for storing paint and spraying paint for marking, the resistance measuring sensor can accurately detect whether the paint bin makes contact with a power transmission line cable or not, the gravity sensor 7 can monitor the weight of the paint bin in real time, and the whole unmanned aerial vehicle marking mechanism is used in cooperation with unmanned aerial vehicle remote control; therefore, marking operation can be accurately and rapidly carried out at the installation position of the power transmission line spacer.

Description

Technical Field

[0001] The invention relates to the technical field of transmission line spacer construction, and in particular to an unmanned aerial vehicle marking mechanism and a marking method for marking the installation position of a transmission line spacer. Background Art

[0002] In the power industry, the installation position calibration of spacers is an important step in the construction of transmission line cables. Traditional methods rely on manual or climbing robots for calibration, but these methods have many limitations in complex terrain conditions. Manual calibration is not only inefficient, but also has high safety risks; while climbing robots have improved safety to a certain extent, their bulky structure, high maintenance costs, and operational complexity limit their widespread application. Summary of the invention

[0003] The technical problem to be solved and the technical task proposed by the present invention are to improve and perfect the existing technical solutions, and provide a drone marking mechanism and a calibration method for calibrating the installation position of the transmission line spacer, so as to achieve the calibration of the spacer position safely and efficiently. To this end, the present invention adopts the following technical solutions.

[0004] A drone marking mechanism for calibrating the installation position of transmission line spacer rods comprises a main body, a counterweight rod, a paint bin, a resistance measuring sensor, a gravity sensor and a communication component. The paint bin is arranged in the main body cavity, and an openable top cover is arranged at the top of the main body above the paint bin. The lower end of the paint bin is a paint spraying port. The resistance measuring sensor is arranged at the lower end of the main body cavity to detect whether it is in contact with the transmission line cable. The gravity sensor is arranged at the bottom of the paint bin to measure the weight of the paint bin. The communication component is arranged in the main body, and the resistance measuring sensor and the gravity sensor are connected to the communication component. The communication component is provided with a wireless transmission module. There are two counterweight rods in total, which are symmetrically arranged on the left and right sides of the lower end of the main body, and the top cover is connected to the drone mount. A complete UAV marking mechanism is constructed by integrating the paint bin, resistance measuring sensor, gravity sensor and communication components in the main body and mounting it on a UAV. The paint bin is used to store paint and spray paint to realize the marking function. The resistance measuring sensor can accurately detect whether it is in contact with the transmission line cable to determine whether it has reached the appropriate marking position. The gravity sensor can monitor the weight of the paint bin in real time. The communication component coordinates the work of each sensor and realizes wireless data transmission. The whole is used in conjunction with the remote control of the UAV, so that the marking operation can be carried out accurately and quickly at the installation position of the transmission line spacer, avoiding the safety risks of traditional manual or robot climbing marking. The marking construction speed is fast through the UAV-carried flight, and the calibration of the spacer position is realized safely and efficiently. The counterweight rod helps to adjust the center of gravity distribution of the entire marking mechanism, so that the UAV mounted with the marking mechanism can fly more smoothly, reducing the influence of unstable factors such as shaking on the marking accuracy.

[0005] As a preferred technical means: the lower end of the main body is provided with an eight-shaped opening to match the position limit of the transmission line cable, and the two counterweight rods are detachably arranged on the outer side of the lower end of the main body in an eight-shaped symmetrical manner, and the inner upper end of the counterweight rod is tangent to the lower end of the eight-shaped opening. The two counterweight rods arranged in an eight-shaped symmetrical manner can have a good guiding and limiting effect on the transmission line cable when the drone descends, making it easier for the drone to align with the transmission line cable when descending, and guiding the transmission line cable to gradually enter the eight-shaped opening position at the lower end of the main body, so that the marking mechanism can better fit on the transmission line, increase the stability when in contact with the transmission line, avoid lateral sliding, displacement, etc. on the transmission line, and thus ensure the accuracy of the marking process at the installation position of the transmission line spacer rod, and improve the accuracy of the marking position.

[0006] As a preferred technical means: the counterweight rod is a cylindrical rod, and the lower end of the counterweight rod is a hemispherical end. The counterweight rod adopts an arc surface and a spherical bottom to avoid rubbing against the transmission line cable and damaging the cable when descending to the transmission line cable, thereby improving the safety of the spacing rod position calibration construction.

[0007] As a preferred technical means: a counterweight hole is provided at the lower end of the counterweight rod. On the one hand, the counterweight rod can be installed and tightened at the lower end of the main body by inserting a force rod at the counterweight hole. On the other hand, when the counterweight of the counterweight rod is insufficient in weather conditions, such as when the wind load is relatively large, the counterweight can be conveniently added through the counterweight hole to improve the stability of the drone during calibration.

[0008] As a preferred technical means: the bottom of the main body is provided with two symmetrical support planes, the resistance measuring sensor and the gravity sensor are symmetrically arranged on the two support planes through their respective brackets, and the paint spraying port of the paint bin is located between the two brackets, so as to realize the installation structure of the resistance measuring sensor and the gravity sensor.

[0009] As a preferred technical means: the top cover is provided with an external thread, which is connected and fixed with the internal thread of the upper end of the main body through the external thread; the counterweight rod is connected with the main body through a thread. The top cover is connected and fixed with the internal thread of the main body through the external thread. This structure provides a simple and reliable sealing method to prevent paint leakage. At the same time, it is also convenient for operators to open or close the top cover when necessary to add or replace paint; the counterweight rod is connected by thread, which is relatively simple and convenient to install and disassemble, and the threaded connection is firm and reliable, with good stability.

[0010] As a preferred technical means: the inner wall of the main body is provided with a plurality of guide limit grooves, and the outer wall of the paint bin is provided with guide limit ribs matching the guide limit grooves. Since the lower end of the paint bin has directionality, the installation of the paint bin can be accurate and fast through the coordinated installation of the guide limit grooves and the guide limit ribs.

[0011] As a preferred technical means: the top cover is provided with a radial through hole, and the upper part of the main body is provided with a radial through slot at the same position as the through hole. The radial through hole and through slot provided on the top cover and the main body allow the operator to insert a stop pin laterally after tightening to prevent the top cover from automatically rotating during the drone flying process, thereby improving safety.

[0012] As a preferred technical means: the top cover is provided with two symmetrical grooves in the middle of the upper end, a handle is provided between the two grooves, and the two grooves penetrate below the handle to form an integral through groove, which is a spherical arc groove, and the lower part of the handle is an arc cylinder. This structure is convenient for operating the top cover by hand-held rotation, and is also convenient for the drone to be hoisted and connected.

[0013] As a preferred technical means: the lower part of the main body is provided with an upwardly concave arc groove coaxial with the transmission line cable to match the transmission line cable.

[0014] A calibration method for a drone marking mechanism for calibrating the installation position of a transmission line spacer bar comprises the following steps: 1) The operator detects whether the output value of the resistance measurement sensor in contact with the air is the upper limit or infinity, and then sets the initial value of the gravity sensor alarm according to the weight of the paint used; 2) The operator controls the drone to take off with the marking mechanism. After the marking mechanism contacts the transmission line cable, the measured value of the resistance measurement sensor suddenly decreases from the upper limit value or infinity and the measured value is sent back to the operator's display screen. The operator makes a secondary judgment to decide whether to calibrate at this position; 3) Combine the drone's built-in RTK-GPS module to read the flight distance and send it back to the operator's display screen, and display the distance with the last calibration. The operator decides whether to calibrate; 4) During the calibration process, the gravity sensor constantly measures the weight of the paint bin and transmits the value back to the operator's display screen. When the weight of the paint bin is too low and reaches the set alarm initial value, an alarm message appears on the display screen to remind the operator to return the drone to refill the paint. This method combines the functions of the resistance measurement sensor, gravity sensor and the drone's built-in RTK-GPS module to achieve accurate calibration of the installation position of the transmission line spacer. It not only improves the accuracy and efficiency of the calibration, but also ensures the safety and reliability of the marking process by real-time monitoring of the weight and flight distance of the paint bin. At the same time, when the weight of the paint bin is too low, the alarm message on the display screen reminds the operator to return to refill the paint in time, avoiding calibration failure or interruption due to insufficient paint.

[0015] As a preferred technical means: the lower part of the main body is provided with an upwardly concave arc groove coaxial with the transmission line cable to match the transmission line cable, and the distance between the adjacent surfaces of the two brackets in the arc groove is the same as the distance between the upper ends of the described figure eight opening. After the transmission line cable passes through the limit guide of the counterweight rod and the figure eight opening, it enters the arc groove and contacts the resistance measurement sensor, which enables the marking mechanism to better fit the transmission line cable, and because the bracket spacing is the same as the figure eight opening distance, the UAV will not hook the cable when it rises, which better improves the stability when it contacts the transmission line.

[0016] Beneficial effect: by integrating the paint bin, resistance measurement sensor, gravity sensor and communication components in the main body and mounting it on a drone with an RTK-GPS module, a complete drone marking mechanism is constructed. The paint bin is used to store paint and spray paint to realize the marking function. The resistance measurement sensor can accurately detect whether it is in contact with the transmission line cable to determine whether it has reached the appropriate marking position. The gravity sensor can monitor the weight of the paint bin in real time. The communication component plays a role in coordinating the work of various sensors and realizing wireless data transmission. The whole is used in conjunction with the remote control of the drone, so that the position of the transmission line spacer can be accurately and quickly calibrated at the installation position of the transmission line spacer, avoiding the safety risks of traditional manual or robot climbing marking. The method of drone-carried flying marking has a fast construction speed, and the calibration of the spacer position is realized safely and efficiently. The counterweight rod helps to adjust the center of gravity distribution of the entire marking mechanism, so that the drone mounted with the marking mechanism can fly more smoothly, reducing the influence of unstable factors such as shaking on the marking accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the separation structure after the paint bin is removed in the present invention.

[0018] Figure 2 It is a schematic diagram of the separation of the main body and the top cover in the present invention.

[0019] Figure 3 It is a main schematic diagram of the present invention.

[0020] Figure 4 It is a main schematic diagram of another viewing direction in the present invention.

[0021] In the figure: 1. main body; 2. counterweight rod; 3. main body cavity; 4. top cover; 5. communication component; 6. resistance measurement sensor; 7. gravity sensor; 8. bracket; 101. support plane; 102. guide limit groove; 103. eight-shaped opening; 104. arc groove; 105. flat notch; 201. counterweight hole; 301. radial through groove; 401. through hole; 402. handle; 403. overall through groove. DETAILED DESCRIPTION

[0022] The technical solution of the present invention is further described in detail below in conjunction with the accompanying drawings.

[0023] Example 1 like Figure 1-4As shown, a UAV marking mechanism for calibrating the installation position of the transmission line spacer includes a main body 1, a counterweight rod 2, a paint bin, a resistance measuring sensor 6, a gravity sensor 7 and a communication component 5. The paint bin is arranged in the main body cavity 3, and an openable top cover 4 is provided on the top of the main body 1 above the paint bin. The lower end of the main body cavity 3 vertically penetrates downward, and the lower end of the paint bin is a paint spraying port. The resistance measuring sensor 6 is arranged at the lower end of the main body cavity 3 to detect whether it is in contact with the transmission line cable. The gravity sensor 7 is arranged at the bottom of the paint bin to measure the weight of the paint bin. The communication component 5 is arranged in the main body cavity 3, and the resistance measuring sensor 6 and the gravity sensor 7 are connected to the communication component 5. The communication component 5 is provided with a wireless transmission module. There are 2 counterweight rods 2, which are symmetrically arranged on the left and right sides of the lower end of the main body 1, and the top cover 4 is connected to the UAV for mounting.

[0024] In order to enable the marking mechanism to better fit on the transmission line cable, an eight-shaped opening 103 is provided at the lower end of the main body 1 to match the transmission line cable limit, and two counterweight rods 2 are detachably arranged on the outer side of the lower end of the main body 1 in an eight-shaped symmetric manner, and the inner upper end of the counterweight rod 2 is tangent to the lower end of the eight-shaped opening 103. The two counterweight rods 2 arranged in an eight-shaped symmetric manner can have a good guiding and limiting effect on the transmission line cable when the drone descends, making it easier for the drone to align with the transmission line cable when descending, and guiding the transmission line cable to gradually enter the eight-shaped opening 103 at the lower end of the main body, so that the marking mechanism can better fit on the transmission line, increase the stability when in contact with the transmission line, avoid lateral sliding, displacement, etc. on the transmission line, and thus ensure the accuracy of the marking process at the installation position of the transmission line spacer rod, and improve the accuracy of the marking position.

[0025] In order to avoid rubbing against the cable and damaging the cable, the counterweight rod 2 is a cylindrical rod, and the lower end of the counterweight rod 2 is a hemispherical end. The counterweight rod 2 adopts an arc surface and a spherical bottom to avoid rubbing against the cable and damaging the cable when descending to the position of the transmission line, thereby improving the safety of the spacer position calibration construction.

[0026] In order to facilitate tightening the counterweight rod 2, a counterweight hole 201 is provided at the lower end of the counterweight rod 2. On the one hand, the counterweight rod 2 can be installed and tightened at the lower end of the main body 1 by inserting a force rod at the counterweight hole 201. On the other hand, in weather conditions where the counterweight of the counterweight rod 2 is insufficient, such as when the wind load is relatively large, the counterweight can be conveniently added through the counterweight hole 201 to improve the stability of the drone during calibration.

[0027] In order to realize the installation of the sensor, two symmetrical support planes 101 are provided at the bottom of the main body 1. The resistance measuring sensor 6 and the gravity sensor 7 are symmetrically arranged on the two support planes 101 through their respective brackets 8, and the paint spraying port of the paint bin is located between the two brackets 8. To realize the installation structure of the resistance measuring sensor 6 and the gravity sensor 7, in this example, the bracket 8 adopts an elastic bracket, which is convenient for the gravity sensor 7 to elastically contact with the bottom of the paint bin, and for the resistance measuring sensor 6 to elastically contact with the transmission line cable. In order to facilitate the addition or replacement of paint, the top cover is provided with an external thread, which is connected and fixed with the internal thread on the upper end of the main body through the external thread; the counterweight rod and the main body are connected by threads. The top cover 4 is connected and fixed with the internal thread of the main body 1 through the external thread. This structure provides a simple and reliable sealing method to prevent paint leakage. At the same time, it is also convenient for operators to open or close the top cover 4 when necessary to add or replace paint; the counterweight rod 2 is connected by threads, so that the installation and removal of the counterweight rod 2 is relatively simple and convenient, and the threaded connection is firm and reliable, and has good stability.

[0028] As a preferred technical means: the inner wall of the main body 1 is provided with a plurality of guide limit grooves 102, and the outer wall of the paint bin is provided with guide limit ribs matching the guide limit grooves 102. Since the lower end of the paint bin has directionality, the installation of the paint bin can be accurate and fast through the coordinated installation of the guide limit grooves 102 and the guide limit ribs.

[0029] In order to achieve the mounting on the drone, the top cover 4 is provided with a radial through hole 401, and the upper part of the main body 1 is provided with a radial through groove 301 at the same position as the through hole 401. The radial through hole 401 and the through groove provided on the top cover 4 and the main body 1 allow the operator to firmly mount and fix the marking mechanism on the drone through a rope or other connecting parts.

[0030] In order to facilitate manual disassembly and assembly, two symmetrical grooves are provided in the middle of the upper end of the top cover 4, between which is a handle 402, and the two grooves penetrate below the handle 402 to form an integral through groove 403, which is a spherical arc groove, and the lower part of the handle 402 is an arc cylinder. This structure is convenient for the top cover 4 to be operated by hand through the handle 402, and is also convenient for the drone to be hoisted and connected.

[0031] A calibration method for a drone marking mechanism for calibrating the installation position of a transmission line spacer rod comprises the following steps: S1: The operator detects whether the output value of the resistance measurement sensor 6 in contact with the air is the upper limit value or infinity, confirms whether the sensor is working normally, and then sets the initial alarm value of the gravity sensor 7 according to the weight of the paint used to ensure the effectiveness of the paint remaining monitoring in the subsequent marking process to avoid affecting the marking integrity due to insufficient paint; S2: The operator controls the drone to take off with the marking mechanism. The drone flies with the marking mechanism to the top of the power transmission cable and slowly descends. Under the guidance and limit of the counterweight rod 2 and the eight-shaped opening 103, the eight-shaped opening 103 at the lower end of the marking mechanism contacts the power transmission cable. After the marking mechanism contacts the power transmission cable, the measured value of the resistance measurement sensor 6 suddenly decreases from the upper limit value or infinity and the measured value is sent back to the operator's display screen. The operator makes a secondary judgment to decide whether to calibrate at this position. S3: Combine the RTK-GPS module on the drone to read the flight distance of the line and send it back to the operator's display screen and compare it with the last calibration distance for judgment. The operator will decide whether to calibrate. Through multiple judgment methods, the accuracy of calibrating the installation position of the transmission line spacer is greatly improved, reducing mis-marking. S4: During the calibration process, the gravity sensor 7 measures the weight of the paint bin at all times and transmits the value back to the operator's display screen. When the weight of the paint bin is too low and reaches the set alarm initial value, an alarm message appears on the display screen to remind the operator to return the drone to refill the paint, ensuring that the entire marking work can be carried out continuously and smoothly, avoiding interruption of the calibration work due to exhaustion of paint.

[0032] In this example, the main body 1 of the marking mechanism is made of 3D printing with a filling density of 100%, and can also be replaced with a light aluminum alloy. In addition to the threaded connection between the counterweight rod 2 and the main body 1, nano glue is also used to ensure a stable connection.

[0033] In this example, the top cover 4 is 71 mm high and 220 mm in diameter; the main body 1 is 320 mm in diameter and 620 mm in height; the two counterweight rods 2 are 326 mm long, and the counterweight hole 201 has a diameter of 30 mm.

[0034] In this example, flat notches 105 are provided on both sides of the upper portion of the main body 1 to facilitate fixing of the main body 1 during assembly.

[0035] The drone marking mechanism combines the functions of the resistance measurement sensor 6, the gravity sensor 7 and the drone's built-in RTK-GPS module to achieve accurate calibration of the installation position of the transmission line spacer rods, which not only improves the accuracy and efficiency of the calibration, but also ensures the safety and reliability of the marking process by real-time monitoring of the weight and flight distance of the paint bin. At the same time, when the weight of the paint bin is too low, the alarm information on the display screen reminds the operator to return to the home position in time to replenish the paint, avoiding calibration failure or interruption due to insufficient paint. It can accurately and quickly perform marking operations at the installation position of the transmission line spacer rods, avoiding the safety risks of traditional manual or robot climbing marking. The drone-borne flying marking construction speed is fast, and the calibration of the spacer rod position is achieved safely and efficiently. The counterweight rod 2 helps to adjust the center of gravity distribution of the entire marking mechanism, so that the drone carrying the marking mechanism can fly more smoothly, reducing the impact of unstable factors such as shaking on the marking accuracy.

[0036] Example 2 In order to make the marking mechanism fit better on the transmission line cable, different from the above example 1, the lower part of the main body 1 is provided with an upwardly concave arc groove 104 coaxial with the transmission line cable to match the transmission line cable, and the distance between the adjacent surfaces of the two brackets 8 in the arc groove 104 is the same as the distance between the upper ends of the eight-shaped opening 103. When the drone descends, the transmission line cable enters the arc groove 104 after passing through the limit guidance of the counterweight rod 2 and the eight-shaped opening 103, and contacts the resistance measurement sensor 6. Compared with the contact marking at the eight-shaped opening 103 in example 1, after the transmission line cable enters the arc groove 104, the marking mechanism can be better fitted on the transmission line cable, and because the spacing between the brackets 8 is the same as the distance of the eight-shaped opening 103, the drone will not hook the cable when it rises, which better improves the stability when in contact with the transmission line, helps to better resist interference from external factors during the marking process, and more accurately completes the calibration and marking tasks.

[0037] above Figure 1-4 The drone marking mechanism and calibration method for calibrating the installation position of transmission line spacer rods shown are specific embodiments of the present invention, which have embodied the outstanding substantial features and significant progress of the present invention. According to actual use needs and under the guidance of the present invention, equivalent modifications in shape, structure, etc. can be made to the mechanism and calibration method, which are all within the protection scope of this scheme.

Claims

1. A drone marking mechanism for calibrating the installation position of transmission line spacer bars, characterized in that: It includes a main body, a counterweight rod, a paint bin, a resistance measuring sensor, a gravity sensor and a communication component. The paint bin is arranged in the inner cavity of the main body. The top of the main body above the paint bin is provided with an openable top cover. The lower end of the paint bin is a paint spraying port. The resistance measuring sensor is arranged at the lower end of the inner cavity of the main body to detect whether it is in contact with the power transmission line cable. The gravity sensor is arranged at the bottom of the paint bin to measure the weight of the paint bin. The communication component is arranged in the main body. The resistance measuring sensor and the gravity sensor are connected to the communication component. The communication component is provided with a wireless transmission module. There are two counterweight rods in total, which are symmetrically arranged on the left and right sides of the lower end of the main body. The top cover is connected to the drone mount.

2. The drone marking mechanism for calibrating the installation position of the transmission line spacer according to claim 1 is characterized in that: The lower end of the main body is provided with an eight-shaped opening to match the transmission line cable limit, and the two counterweight rods are detachably arranged on the outer side of the lower end of the main body in an eight-shaped symmetrical manner, and the inner upper end of the counterweight rod is tangent to the lower end of the eight-shaped opening.

3. The drone marking mechanism for calibrating the installation position of the transmission line spacer according to claim 2 is characterized in that: The counterweight rod is a cylindrical rod, and the lower end of the counterweight rod is a hemispherical end.

4. The drone marking mechanism for calibrating the installation position of the transmission line spacer according to claim 3 is characterized in that: The lower end of the counterweight rod is provided with a counterweight hole.

5. The drone marking mechanism for calibrating the installation position of the transmission line spacer according to claim 4, characterized in that: The inner bottom of the main body is provided with two left-right symmetrical supporting planes, the resistance measuring sensor and the gravity sensor are symmetrically arranged on the left and right supporting planes through their respective brackets, and the paint spraying port of the paint bin is located between the two brackets.

6. The drone marking mechanism for calibrating the installation position of the transmission line spacer according to claim 5, characterized in that: The top cover is provided with an external thread, which is connected and fixed with the internal thread on the upper end of the main body through the external thread; the counterweight rod is connected with the main body through a thread.

7. The drone marking mechanism for calibrating the installation position of the transmission line spacer according to claim 6, characterized in that: The inner wall of the main body is provided with a plurality of guide limiting grooves, and the outer wall of the paint bin is provided with guide limiting ribs matched with the guide limiting grooves.

8. The drone marking mechanism for calibrating the installation position of the transmission line spacer according to claim 7, characterized in that: The top cover is provided with a radial through hole, and the upper part of the main body is provided with a radial through groove at the same position as the through hole.

9. The drone marking mechanism for calibrating the installation position of the transmission line spacer according to claim 8, characterized in that: The top cover has two symmetrical grooves in the middle of the upper end, a handle is between the two grooves, and the two grooves penetrate below the handle to form an integral penetrating groove, which is a spherical arc groove, and the lower part of the handle is an arc cylinder.

10. A calibration method for a drone marking mechanism for calibrating the installation position of a transmission line spacer according to claim 1, characterized in that The following steps are involved: 1) The operator detects whether the output value of the resistance measurement sensor in contact with the air is the upper limit or infinity, and then sets the initial value of the gravity sensor alarm according to the weight of the paint used; 2) The operator controls the drone to take off with the marking mechanism. After the marking mechanism contacts the transmission line cable, the measured value of the resistance measurement sensor suddenly decreases from the upper limit value or infinity and the measured value is sent back to the operator's display screen. The operator makes a secondary judgment to decide whether to calibrate at this position; 3) Combine the drone's built-in RTK-GPS module to read the flight distance and send it back to the operator's display screen, and display the distance with the last calibration. The operator decides whether to calibrate; 4) During the calibration process, the gravity sensor measures the weight of the paint bin at all times and transmits the value back to the operator's display screen. When the weight of the paint bin is too low and reaches the set alarm initial value, an alarm message appears on the display screen to remind the operator to return the drone to refill the paint.

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