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

Abstract

The application discloses a kind of unmanned aerial vehicle marking mechanism and calibration method for calibrating the installation position of power transmission line spacer, and relates to the technical field of power transmission line spacer construction.The traditional method for calibrating the installation position of spacer relies on manual or climbing robot for calibration, which is inefficient and has high safety risk.The present application comprises a main body, a counterweight rod, a paint store, a top 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 cover is connected with the unmanned aerial vehicle mounting.The present application constructs a complete unmanned aerial vehicle marking mechanism, the paint store is used for storing paint and spraying paint marking, the resistance measurement sensor can accurately detect whether it is in contact with the power transmission line cable, and the gravity sensor 7 can monitor the weight of the paint store in real time.The whole cooperates with the remote control of unmanned aerial vehicle, so that accurate and fast marking operation can be carried out on the installation position of power transmission line spacer.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of power transmission line spacer construction, and particularly relates to a UAV marking mechanism for calibrating the installation position of a power transmission line spacer and a calibration method. BACKGROUND

[0002] In the power industry, the installation position calibration of the spacer is an important step in the construction of the power transmission line cable. The traditional method relies on manual or climbing robot calibration, but these methods have many limitations in complex terrain conditions. Manual calibration is not only inefficient, but also has high safety risks; while the climbing robot improves safety to some extent, its bulky structure, high maintenance cost and complex operation limit its wide application. SUMMARY

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

[0004] A drone marking mechanism for calibrating the installation position of power transmission line spacers includes a main body, counterweights, a paint tank, a resistance measuring sensor, a gravity sensor, and a communication component. The paint tank is located inside the main body, and an openable top cover is provided on the top of the main body above the paint tank. The lower end of the paint tank is a paint spray nozzle. The resistance measuring sensor is located at the lower end of the main body to detect whether it is in contact with the power transmission line. The gravity sensor is located at the bottom of the paint tank to measure the weight of the paint tank. The communication component is located inside the main body, and the resistance measuring sensor and gravity sensor are connected to the communication component. The communication component is equipped with a wireless transmission module. There are two counterweights, symmetrically arranged on the left and right sides of the lower end of the main body. The top cover is connected to the drone for mounting. By integrating a paint tank, resistance measurement sensor, gravity sensor, and communication components into the main body and mounting it on a drone, a complete drone marking mechanism is constructed. The paint tank stores and sprays paint to achieve the marking function. The resistance measurement sensor can accurately detect whether it is in contact with the power transmission cable, thereby determining whether it has reached the appropriate marking position. The gravity sensor can monitor the weight of the paint tank in real time. The communication component plays a role in coordinating the work of each sensor and realizing wireless data transmission. The whole system works in conjunction with the drone remote control, enabling precise and rapid marking operations at the installation position of the power transmission cable spacer. This avoids the safety risks associated with traditional marking by manual labor or robots climbing. Furthermore, drone-borne marking is fast, safe, and efficient in calibrating the spacer position. The counterweight helps adjust the center of gravity distribution of the entire marking mechanism, making the drone more stable when flying with the marking mechanism and reducing the impact 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 a figure-eight shaped opening to match the limiting position of the power transmission cable. Two counterweight rods are detachably and symmetrically arranged in a figure-eight pattern on the outer side of the lower end of the main body, with the upper inner end of the counterweight rod tangent to the lower end of the figure-eight shaped opening. The two counterweight rods arranged symmetrically in a figure-eight pattern can provide better guidance and limiting effect on the power transmission cable when the drone descends, making it easier for the drone to align with the power transmission cable during descent. This guides the power transmission cable to gradually enter the figure-eight shaped opening at the lower end of the main body, allowing the marking mechanism to better fit onto the power transmission cable, increasing stability when in contact with the power transmission cable, and avoiding lateral sliding or displacement on the power transmission cable. This ensures the accuracy of the marking process at the installation position of the power transmission cable spacer and improves the precision of the marking position.

[0006] As a preferred technical approach, the counterweight rod is a cylindrical rod with a hemispherical lower end. The counterweight rod features an arc-shaped surface and a spherical bottom to prevent it from rubbing against and damaging the power transmission cable when descending, thus improving the safety of the spacer bar positioning and marking construction.

[0007] As a preferred technical means: the lower end of the counterweight rod is provided with a counterweight hole. On the one hand, the counterweight rod can be installed and tightened at the lower end of the main body by inserting the force rod at the counterweight hole, and on the other hand, the counterweight rod can be conveniently increased in weight in the case of insufficient counterweight in weather conditions such as relatively large wind load, thereby improving the stability of the unmanned aerial vehicle during calibration.

[0008] As a preferred technical means: the inner bottom of the main body is provided with two left-right symmetrical support planes, the resistance measurement sensor and the gravity sensor are respectively arranged on the left and right two support planes through respective supports, and the paint spraying port of the paint tank is located between the two supports. The installation structure of the resistance measurement sensor and the gravity sensor is realized.

[0009] As a preferred technical means: the top end cover is provided with external threads, and is connected and fixed with the internal threads of the upper end of the main body through the external threads; the counterweight rod is connected with the main body through threads. The top end cover is connected and fixed with the internal threads of the main body through the external threads, which provides a simple and reliable sealing method to prevent paint leakage, and also facilitates the operator to open or close the top end cover when needed to add or replace paint; the counterweight rod is connected through threads, 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 limiting grooves, and the outer wall of the paint tank is provided with guide limiting ribs matched with the guide limiting grooves. Since the lower end of the paint tank has a directionality, the installation of the paint tank is accurate and fast through the cooperation of the guide limiting grooves and the guide limiting ribs.

[0011] As a preferred technical means: the top end cover is provided with a radial through hole, and the upper part of the main body is provided with a radial through groove with the same position as the through hole. The radial through hole and the through groove provided on the top end cover and the main body allow the operator to laterally insert a rotation stopping pin after tightening to prevent the top end cover from rotating automatically during the hanging flight of the unmanned aerial vehicle, thereby improving safety.

[0012] As a preferred technical means: two symmetrical grooves are arranged in the middle of the upper end of the top end cover, a handle is arranged between the two grooves, the two grooves are penetrated below the handle to form an integral penetration groove, the integral penetration groove is a spherical arc groove, and the lower part of the handle is an arc cylindrical surface. This structure facilitates the rotation of the top end cover by hand, and facilitates the connection of the unmanned aerial vehicle during hanging flight.

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

[0014] A kind of calibration method of unmanned aerial vehicle marking mechanism for marking the installation position of power transmission line spacer, comprising the following steps:

[0015] 1) The operator detects whether the value output by the resistance measurement sensor in contact with air is the upper limit value or infinity, and then sets the initial value of the gravity sensor alarm according to the weight of the paint used;

[0016] 2) The operator controls the unmanned aerial vehicle to take off with the marking mechanism, and after the marking mechanism contacts the power transmission line cable, the measurement value of the resistance measurement sensor suddenly becomes smaller from the upper limit value or infinity and is returned to the display screen of the operator, and the operator makes a second judgment to decide whether to mark at this position;

[0017] 3) The RTK-GPS module of the unmanned aerial vehicle reads the distance of the flight along the line and returns it to the display screen of the operator and displays the distance from the last marking, and the operator judges whether to mark;

[0018] 4) During the marking process, the gravity sensor measures the weight of the paint tank at all times and returns the value to the display screen of the operator, and when the weight of the paint tank is too low to reach the set alarm initial value, an alarm message appears on the display screen, reminding the operator to return the unmanned aerial vehicle to replenish the paint. This method combines the functions of resistance measurement sensor, gravity sensor and RTK-GPS module of the unmanned aerial vehicle, realizes accurate marking of the installation position of power transmission line spacer, not only improves the accuracy and efficiency of marking, but also ensures the safety and reliability of the marking process through real-time monitoring of the weight of the paint tank and the flight distance, and at the same time, when the weight of the paint tank is too low, the alarm message on the display screen reminds the operator to return in time to replenish the paint, avoiding the failure or interruption of marking due to insufficient paint.

[0019] As a preferred technical means: the lower part of the main body is provided with an upward concave arc-shaped groove coaxial with the power transmission line cable to match the power transmission line cable, and the distance between the adjacent surfaces of the two supports in the arc-shaped groove is the same as the distance between the upper end of the eight-shaped opening. After the power transmission line cable is guided by the counterweight rod and the eight-shaped opening, it enters the arc-shaped groove and contacts the resistance measurement sensor, which can make the marking mechanism better fit on the power transmission line cable, and since the distance between the supports and the eight-shaped opening is the same, the unmanned aerial vehicle will not hook the cable when it rises, better improving the stability when contacting the power transmission line.

[0020] Beneficial effects: By integrating the paint bin, resistance measurement sensor, gravity sensor and communication components in the main body, mounted on the unmanned aerial vehicle with RTK-GPS module, a complete unmanned aerial vehicle 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 power cable, so as to judge whether it reaches 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 overall coordination of the work of each sensor and realization of wireless data transmission, and the whole cooperates with the remote control of the unmanned aerial vehicle, so that the spacer position calibration operation can be accurately and quickly carried out at the spacer installation position of the power line, avoiding the safety risks existing in the traditional manual or robot climbing marking, and the method of marking by unmanned aerial vehicle carrying flight is fast in construction speed, safe and efficient in realizing the spacer position calibration, the counterweight rod helps to adjust the gravity distribution of the whole marking mechanism, so that the unmanned aerial vehicle carrying the marking mechanism flies more stably, and the influence of unstable factors such as shaking on the marking accuracy is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 is the separated structure diagram after removing the paint bin in the application.

[0022] Figure 2 is the separated diagram of the main body and the top end cover in the application.

[0023] Figure 3 is the main body diagram in the application.

[0024] Figure 4 is the main body diagram in another view direction in the application.

[0025] In the figure: 1, main body; 2, counterweight rod; 3, main body cavity; 4, top end cover; 5, communication component; 6, resistance measurement sensor; 7, gravity sensor; 8, support; 101, support plane; 102, guide limiting groove; 103, eight-shaped opening; 104, arc-shaped groove; 105, flat notch; 201, counterweight hole; 301, radial through groove; 401, through hole; 402, handle; 403, whole through groove. DETAILED DESCRIPTION

[0026] The technical solutions of the application will be further described in detail below in combination with the drawings of the specification.

[0027] Example one

[0028] As Figures 1-4As shown, a kind of unmanned aerial vehicle marking mechanism for calibrating the installation position of power transmission line spacer rod includes main body 1, counterweight bar 2, paint store, resistance measuring sensor 6, gravity sensor 7 and communication component 5, paint store is arranged in the inner cavity 3 of main body, the top end of main body 1 is provided with openable top end cover 4 on the upper surface of paint store, the lower end of inner cavity 3 is vertically penetrated downwards, the lower end of paint store is paint spraying port, resistance measuring sensor 6 is arranged at the lower end of inner cavity 3 to detect whether it is in contact with power transmission line cable, gravity sensor 7 is arranged at the bottom of paint store to measure the weight of paint store, communication component 5 is arranged in the inner cavity 3 of main body, resistance measuring sensor 6 and gravity sensor 7 are connected to communication component 5, communication component 5 is provided with wireless transmission module, counterweight bar 2 is 2, and is symmetrically arranged at the left and right sides of the lower end of main body 1, and top end cover 4 is connected to unmanned aerial vehicle and is hung.

[0029] In order to make the marking mechanism better fit on the power transmission line cable, the lower end of main body 1 is provided with a splayed opening 103 to limit the matching of the power transmission line cable, and the two counterweight bars 2 are detachably arranged on the outer side of the lower end of main body 1 in a splayed symmetry, and the inner side upper end of counterweight bar 2 is tangent to the lower end of splayed opening 103. The two counterweight bars 2 arranged in a splayed symmetry can have a good guiding and limiting effect on the power transmission line cable when the unmanned aerial vehicle descends, so that the unmanned aerial vehicle is more easily aligned with the power transmission line cable when descending, and the power transmission line cable is guided to gradually enter the splayed opening 103 position at the lower end of the main body, so that the marking mechanism can better fit on the power transmission line, increase the stability when contacting the power transmission line, avoid lateral sliding, displacement and other situations on the power transmission line, and further ensure the accuracy in the process of marking the installation position of the spacer rod on the power transmission line, and improve the precision of the marking position.

[0030] In order to avoid damaging the cable by rubbing, the counterweight bar 2 is a cylindrical rod, and the lower end of the counterweight bar 2 is a hemispherical end. The counterweight bar 2 adopts a circular arc surface and a spherical bottom, which avoids damaging the cable by rubbing when descending to the position of the power transmission line cable, and improves the safety of the spacer rod position calibration construction.

[0031] In order to facilitate tightening the counterweight bar 2, the lower end of the counterweight bar 2 is provided with a counterweight hole 201. On the one hand, the counterweight bar 2 can be installed and tightened at the lower end of the main body 1 by inserting a force bar at the counterweight hole 201, and on the other hand, in the weather condition that the counterweight is insufficient, such as the case that the wind load is relatively large, the counterweight can be conveniently increased through the counterweight hole 201, to improve the stability of the unmanned aerial vehicle calibration.

[0032] In order to realize the installation of the sensor, the bottom of the main body 1 is provided with two symmetrical support planes 101, and the resistance measurement sensor 6 and the gravity sensor 7 are respectively arranged on the left and right two support planes 101 through the respective supports 8, and the paint spraying port of the paint tank is located between the two supports 8. In order to realize the installation structure of the resistance measurement sensor 6 and the gravity sensor 7, in the present embodiment, the support 8 adopts an elastic support, which facilitates the elastic contact of the gravity sensor 7 with the bottom of the paint tank and the elastic contact of the resistance measurement sensor 6 with the power cable.

[0033] In order to facilitate the addition or replacement of paint, the top end cover is provided with external threads, which are connected and fixed with the internal threads of the upper end of the main body through the external threads; the counterweight rod is connected between the main body through the threads. The top end cover 4 is connected and fixed with the internal threads of the main body 1 through the external threads, which provides a simple and reliable sealing method to prevent paint leakage, and also facilitates the opening or closing of the top end cover 4 by the operator when needed to add or replace paint; the counterweight rod 2 is connected through the threads, so that the installation and disassembly of the counterweight rod 2 are relatively simple and convenient, and the threaded connection is firm and reliable, with good stability.

[0034] As a preferred technical means: the inner wall of the main body 1 is provided with a plurality of guide limiting grooves 102, and the outer wall of the paint tank is provided with guide limiting ribs matched with the guide limiting grooves 102. Since the lower end of the paint tank has directionality, the installation of the paint tank is accurate and fast through the cooperation of the guide limiting grooves 102 and the guide limiting ribs.

[0035] In order to realize the mounting with the unmanned aerial vehicle, the top end 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 end cover 4 and the main body 1 allow the operator to firmly mount and fix the marking mechanism on the unmanned aerial vehicle through a rope or other connecting member.

[0036] In order to facilitate direct hand disassembly, the upper end of the top end cover 4 is provided with two symmetrical recesses in the middle, the two recesses are connected by a handle 402, the two recesses are connected below the handle 402 to form an overall through recess 403, the overall through recess 403 is a spherical arc groove, and the lower part of the handle 402 is an arc cylindrical surface. This structure facilitates the hand-held rotation of the top end cover 4 through the handle 402, and facilitates the hoisting connection of the unmanned aerial vehicle.

[0037] A calibration method of an unmanned aerial vehicle marking mechanism for calibrating the installation position of a power line spacer, the process of which comprises the following steps:

[0038] S1: The operator detects whether the value output by 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, so as to ensure the effectiveness of the subsequent paint level monitoring during the marking process and avoid the impact of insufficient paint on the marking integrity.

[0039] S2: The operator controls the unmanned aerial vehicle carrying the marking mechanism to take off, and the unmanned aerial vehicle flies to the top of the power cable with the marking mechanism. Under the guidance and limitation of the counterweight rod 2 and the eight-shaped opening 103, the lower end of the marking mechanism is in contact with the power cable at the eight-shaped opening 103. After the marking mechanism contacts the power cable, the measurement value of the resistance measurement sensor 6 suddenly becomes smaller from the upper limit value or infinity and is returned to the display screen of the operator, and the operator makes a second judgment to decide whether to mark at this position.

[0040] S3: The RTK-GPS module of the unmanned aerial vehicle reads the distance of the flight along the line and returns it to the display screen of the operator, and the operator compares it with the last marking distance to determine whether to mark. Through multiple judgment methods, the accuracy of marking the installation position of the power line spacer is greatly improved, and the mismarking situation is reduced.

[0041] S4: During the marking process, the gravity sensor 7 measures the weight of the paint tank at all times and returns the value to the display screen of the operator. When the weight of the paint tank is too low and reaches the set alarm initial value, an alarm message appears on the display screen, reminding the operator to return the unmanned aerial vehicle to refill the paint, so as to ensure that the marking work can continue smoothly and avoid interruption of the marking work due to depletion of the paint.

[0042] In this example, the main body 1 of the marking mechanism is 3D printed, with a filling density of 100%, and can also be replaced with a lightweight aluminum alloy. In addition to the threaded connection between the counterweight rod 2 and the main body 1, nano glue is also used for bonding to make the connection stable.

[0043] 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; and the two counterweight rods 2 are 326 mm long, with the counterweight holes 201 being 30 mm in diameter.

[0044] In this example, flat notches 105 are provided on the left and right sides of the upper part of the main body 1 to facilitate the fixation of the main body 1 during assembly.

[0045] The unmanned aerial vehicle marking mechanism combines the functions of the resistance measurement sensor 6, the gravity sensor 7 and the RTK-GPS module of the unmanned aerial vehicle, realizes accurate calibration of the installation position of the spacer of the power transmission line, improves the accuracy and efficiency of calibration, ensures the safety and reliability of the marking process through real-time monitoring of the weight of the paint tank and the flight distance, and reminds the operator to return and supplement the paint in time when the weight of the paint tank is too low, avoids the failure or interruption of calibration due to insufficient paint, can accurately and quickly mark the installation position of the spacer of the power transmission line, avoids the safety risks of traditional manual or robot climbing marking, and realizes the calibration of the spacer position safely and efficiently. The counterweight rod 2 helps to adjust the center of gravity distribution of the marking mechanism, so that the unmanned aerial vehicle carrying the marking mechanism flies more stably, and reduces the influence of unstable factors such as shaking on the marking accuracy.

[0046] Example two

[0047] In order to make the marking mechanism better fit on the power transmission cable, the main body 1 is provided with an upward concave arc-shaped groove 104 coaxial with the power transmission cable to match the power transmission cable, the distance between the adjacent surfaces of the two supports 8 in the arc-shaped groove 104 is the same as the distance between the upper end of the eight-shaped opening 103, when the unmanned aerial vehicle descends, the power transmission cable enters the arc-shaped groove 104 after being limited and guided by the counterweight rod 2 and the eight-shaped opening 103, and is in contact with the resistance measurement sensor 6. Compared with the contact marking at the eight-shaped opening 103 in example one, after the power transmission cable enters the arc-shaped groove 104, the marking mechanism can better fit on the power transmission cable, and since the distance between the supports 8 and the eight-shaped opening 103 is the same, the unmanned aerial vehicle will not hook the cable when it rises, which better improves the stability when contacting the power transmission line, and helps to better resist external factor interference and more accurately complete the calibration and marking task.

[0048] The above Figures 1-4 The unmanned aerial vehicle marking mechanism for calibrating the installation position of the spacer of the power transmission line and the calibration method shown in the above are specific embodiments of the present application, which have embodied the outstanding substantial characteristics and significant progress of the present application. According to the actual use needs, equivalent modifications can be made to the shape, structure and the like under the inspiration of the present application, which are all within the protection scope of the present application.

Claims

1. A UAV marking mechanism for calibrating the installation position of power transmission line spacers, characterized in that: The device includes a main body, counterweights, a paint tank, a resistance sensor, a gravity sensor, and a communication component. The paint tank is located inside the main body, and an openable top cover is located on the top of the main body above the paint tank. The lower end of the paint tank is a paint spray nozzle. The resistance sensor is located at the lower end of the main body to detect whether it is in contact with power transmission cables. The gravity sensor is located at the bottom of the paint tank to measure its weight. The communication component is located inside the main body, and the resistance sensor and gravity sensor are connected to the communication component. The communication component includes a wireless transmission module. There are two counterweights, symmetrically arranged on the left and right sides of the lower end of the main body. The top cover is connected to a drone for mounting.

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

3. The UAV marking mechanism for calibrating the installation position of power transmission line spacers according to claim 2, characterized in that: The counterweight rod is a cylindrical rod with a hemispherical end at the bottom.

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

5. The UAV marking mechanism for calibrating the installation position of power transmission line spacers according to claim 4, characterized in that: The main body has two symmetrical support planes at its bottom. The resistance measurement sensor and the gravity sensor are symmetrically mounted on the two support planes via their respective brackets. The paint spray nozzle of the paint tank is located between the two brackets.

6. The UAV marking mechanism for calibrating the installation position of power transmission line spacers according to claim 5, characterized in that: The top cap is provided with external threads, which are connected and fixed to the internal threads at the upper end of the main body; the counterweight rod is connected to the main body by threads.

7. The UAV marking mechanism for calibrating the installation position of power transmission line spacers according to claim 6, characterized in that: The inner wall of the main body is provided with multiple guide limiting grooves, and the outer wall of the paint tank is provided with guide limiting ribs that match the guide limiting grooves.

8. The UAV marking mechanism for calibrating the installation position of power transmission line spacers according to claim 7, characterized in that: The top cap 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 UAV marking mechanism for calibrating the installation position of power transmission line spacers according to claim 8, characterized in that: The top cap has two symmetrical grooves in the middle of its upper end, with a handle between the two grooves. The two grooves pass through the handle to form an integral through groove. The integral through groove is a spherical arc groove, and the lower part of the handle is an arc-shaped cylindrical surface.

10. A calibration method using a UAV marking mechanism for calibrating the installation position of power transmission line spacers as described in claim 1, characterized in that... Includes the following steps: 1) The operator checks whether the output value of the resistance measuring sensor is the upper limit or infinity when it is in contact with air, and then sets the initial alarm value of the gravity sensor according to the weight of the paint used. 2) The operator controls the drone to take off carrying the marking mechanism. After the marking mechanism contacts the power transmission cable, the measured value of the resistance measurement sensor suddenly decreases from the upper limit or infinity and sends the measured value back to the operator's display screen. The operator then makes a secondary judgment to decide whether to perform calibration at this position. 3) Combine the drone's built-in RTK-GPS module to read the line-flying distance and send it back to the operator's display screen, showing the distance compared to the last calibration. The operator then judges whether calibration is required. 4) During the calibration process, the gravity sensor constantly measures the weight of the paint tank and transmits the value back to the operator's display screen. When the weight of the paint tank is too low and reaches the set alarm initial value, an alarm message will appear on the display screen to remind the operator to return the drone to replenish the paint.

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