Suspended operation spraying device and method
By combining the suspended spraying device with the flexible active adjustment module and spraying module of the UAV system, the spraying problem in complex high-altitude environments is solved, achieving comprehensive coverage and stable spraying of high-altitude components, reducing safety risks and labor costs.
Patent Information
- Application Number
- CN202410574348.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-05-07
- Publication Date
- 2025-11-07
AI Technical Summary
Existing suspended spraying equipment cannot cope with complex high-altitude environments, cannot fully spray parts located in hard-to-reach high-altitude positions, and cannot meet acceptance standards.
A system consisting of a suspended spraying device and a drone was designed, including a control box, a flexible active adjustment module, and a spraying module. The flexible active adjustment module actively adjusts the relative position of the spraying module and the drone to buffer the force and ensure the stable flight of the drone. The system also achieves full coverage spraying in a confined space by adjusting the orientation of the nozzles.
It enables comprehensive spraying of multi-directional facades in confined spaces, features precise spraying capabilities, adapts to complex scenarios, improves the stability and efficiency of spraying operations, and reduces labor costs.
Smart Images
Figure CN120903014A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The application belongs to the technical field of high-altitude operation, and particularly relates to a suspended operation spraying device and method. BACKGROUND
[0002] In high-altitude spraying operation, there are many scenarios that require painting of parts in the air. These parts may be part of large industrial equipment or part of building structures, and they are usually located in high-altitude positions that are difficult to access, so the painting work becomes particularly complex and challenging.
[0003] For this situation, unmanned aerial vehicle high-altitude spraying technology has shown great potential and advantages. However, the existing suspended operation spraying device cannot access the complex high-altitude environment (i.e. when there are obstacles around the parts to be sprayed), resulting in the inability to fully spray the parts, thereby failing to meet the acceptance standards.
[0004] In summary, the current suspended operation spraying device cannot cope with complex high-altitude environments and cannot meet the requirements of high-altitude spraying operations. SUMMARY
[0005] Therefore, the application provides a suspended operation spraying device and method to solve the technical problems of the current suspended operation spraying device that cannot cope with complex high-altitude environments and cannot meet the requirements of high-altitude operations.
[0006] In a first aspect, the application provides a suspended operation spraying device that forms a suspended operation spraying system with an unmanned aerial vehicle to complete suspended spraying operations, the suspended operation spraying device comprising a control box, a flexible active adjustment module, and a spraying module;
[0007] The spraying module is connected to the unmanned aerial vehicle through the flexible active adjustment module, which can actively adjust the relative position of the spraying module and the unmanned aerial vehicle, and at the same time, buffer the force of the suspended operation spraying device acting on the unmanned aerial vehicle due to changes in the relative position of the whole or part of the suspended operation spraying device and the unmanned aerial vehicle, so that the unmanned aerial vehicle has a stable flight state, and the suspended operation spraying system can work stably when the spraying module changes the spraying direction; the spraying module has a nozzle that is away from the unmanned aerial vehicle and is easy to adjust, and the nozzle adjusts the spraying range by changing the orientation to work with the unmanned aerial vehicle to achieve suspended spraying operations that fully cover the combined facade in a narrow space.
[0008] In a second aspect, the application also provides a method for aerial spraying, which uses the aerial spraying device of the first aspect in combination with a drone to form an aerial spraying system for aerial spraying. The length, width and height of the object to be sprayed are C, K and G respectively. The length of the liquid path is L. The effective spraying distance of the nozzle is S. The actual rotation angle of the flexible active adjustment module is C1. The actual rotation angle of the first rotating assembly is C2. The actual rotation angle of the second rotating assembly is C3.
[0009] When the front surface of the object to be sprayed needs to be sprayed,
[0010] If the distance R between the drone and the front surface of the object to be sprayed is equal to L+S, the nozzle is directed at the front surface of the object to be sprayed. If C<S / cos30°, the rotation angle of the flexible active adjustment module is controlled to be 2*arctan(C*0.5 / S).
[0011] When the side surface of the object to be sprayed needs to be sprayed,
[0012] The front-to-back distance of the drone from the starting point of the target spraying surface is controlled to be Ry=(L+S)*cos(C3). The horizontal distance is Rx=(L+S)*sin(C3). The vertical distance is Rz=(L+S)*cos(90-C1).
[0013] The second rotating assembly is controlled to rotate right or left, and the rotation angle is arc((L+S)*sinC3 / (Ry+K))-C3.
[0014] Wherein, C3 is 30°-50°, and C1=0.
[0015] When the top / bottom surface of the object to be sprayed needs to be sprayed,
[0016] If the top surface is sprayed, first rotate the liquid path downward, and cooperate with the first rotating assembly to make the included angle between the nozzle and the sprayed surface reach 45°.
[0017] If the bottom surface is sprayed, first rotate the liquid path upward, and cooperate with the first rotating assembly to make the included angle between the nozzle and the sprayed surface reach 45°.
[0018] The front-to-back distance of the drone from the starting point of the target spraying surface is controlled to be Ry=(L+S)*cos(C1+C2). The horizontal distance is Rx=(L+S)*sin(C3). The vertical distance is Rz=(L+S)*sin(C1+C2)°.
[0019] After starting spraying, the first rotating assembly is controlled to rotate towards the top / bottom surface, and the rotation angle is arc((L+S)*sinC1 / (Ry+K))-C1
[0020] Wherein, C1+C2=30°-50°, C3=0.
[0021] When the back of the object to be sprayed needs to be sprayed,
[0022] First, the second rotating assembly is adjusted to a position of 90°, the UAV is controlled to approach from the side with wider spacing between the object to be sprayed and the obstacle, the included angle between the liquid path and the side of the object to be sprayed is 30°, and the approaching continues until the edge of the back is on the spraying axis of the nozzle, so that the distance between the nozzle and the back is the effective spraying distance S of the nozzle.
[0023] At this time, the horizontal distance between the UAV and the back of the object to be sprayed is Rx=S*cos30°+L*Sin30°, the front-rear distance is Ry=L*cos30°-S*sin30°, and the vertical distance is Rz=Ry*ctanC1.
[0024] Wherein, the C1=0.
[0025] The application provides a suspended operation spraying device and method, a flexible active adjustment module can actively adjust the relative position of the spraying module and the unmanned aerial vehicle, and simultaneously buffers the force of the suspended operation spraying device on the unmanned aerial vehicle due to the change of the relative position of the whole or part of the suspended operation spraying device and the unmanned aerial vehicle, so that the unmanned aerial vehicle has a stable flight state, and the suspended operation spraying system can work stably when the spraying module changes the spraying direction. The spraying module has a nozzle that is away from the unmanned aerial vehicle and is easy to adjust, the nozzle adjusts the spraying range by changing the orientation, thereby cooperating with the unmanned aerial vehicle to work, so as to realize the suspended spraying operation of fully covering the combined facade in a narrow space in multiple directions. The suspended operation spraying device provided by the application has the following advantages: 1. Precise spraying: automatic spraying function, remote autonomous control of the spraying range (angle range of rotation, single or cyclic spraying within the set range), flexible response to complex scenes and tasks, precise spraying to the specified range in different directions; AR positioning of the spraying target on the operation interface, high-light spraying target, automatic and precise spraying is realized. 2. Convenient deployment and easy to use: convenient and fast deployment, modular buckle type design of the liquid storage tank, convenient replacement and maintenance, fast response to on-site demand. 3. Integrated flight control, seamless integration with the unmanned aerial vehicle system, single-person control of flight and spraying, simple and easy to use; at the same time, the unmanned aerial vehicle can remotely feedback the spraying target through the remote control screen, and more efficient and accurate execution is realized. The method provided by the application can make the nozzle reach the best spraying position of the target spraying surface, complete the spraying operation, and each surface of the object to be sprayed can be operated in this way, and finally all surfaces of the object to be sprayed are sprayed to reach the acceptance standard. BRIEF DESCRIPTION OF DRAWINGS
[0026] In order to more clearly illustrate the technical solutions in the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative effort.
[0027] Figure 1 A structure schematic diagram of the suspended operation spraying device provided by the application cooperating with the unmanned aerial vehicle is shown;
[0028] Figure 2 A structure schematic diagram of the suspended operation spraying device provided by the application is shown;
[0029] Figure 3 is Figure 2 a schematic diagram of part of the structure Figure 1 ;
[0030] Figure 4 is Figure 3Figure 6 is a structural schematic diagram of the device in Figure 5 without the mounting rack;
[0031] Figure 5 Figure 7 is a structural schematic diagram of the device in Figure 5 from another perspective;
[0032] Figure 6 Figure 8 is a structural schematic diagram of part of the device in Figure 5; Figure 5 Figure 9 is a structural schematic diagram of part of the device in Figure 5; Figure 1 Figure 10 is a structural schematic diagram of part of the device in Figure 5 from another perspective;
[0033] Figure 7 Figure 11 is a schematic diagram of the positional relationship in the vertical direction between the object to be sprayed and the obstacle; Figure 4 Figure 12 is a schematic diagram of the positional relationship in the horizontal direction between the object to be sprayed and the obstacle;
[0034] Figure 8 Figure 13 is a schematic diagram of the device in Figure 5 cooperating with the unmanned aerial vehicle to perform aerial spraying on the front of the object to be sprayed;
[0035] Figure 9 Figure 14 is a schematic diagram of the device in Figure 5 cooperating with the unmanned aerial vehicle to perform aerial spraying on the side of the object to be sprayed;
[0036] Figure 10 Figure 15 is a schematic diagram of the device in Figure 5 cooperating with the unmanned aerial vehicle to perform aerial spraying on the back of the object to be sprayed;
[0037] Figure 11 Figure 16 is a schematic diagram of the device in Figure 5 cooperating with the unmanned aerial vehicle to perform aerial spraying on the top of the object to be sprayed;
[0038] Figure 12 Figure 17 is a schematic diagram of the device in Figure 5 cooperating with the unmanned aerial vehicle to perform aerial spraying on the bottom of the object to be sprayed.
[0039] Figure 13 Figure 18 is a schematic diagram of the device in Figure 5 cooperating with the unmanned aerial vehicle to perform aerial spraying on the bottom of the object to be sprayed.
[0040] Figure 14 Figure 18 is a schematic diagram of the device in Figure 5 cooperating with the unmanned aerial vehicle to perform aerial spraying on the bottom of the object to be sprayed.
[0041] In the drawings:
[0042] 10, control box; 100, mounting groove; 101, interface; 11, mounting portion; 12, lens protection sheet; 13, indicator light;
[0043] 20, flexible active adjustment module; 21, first fixed seat; 22, second fixed seat; 23, flexible driving structure;
[0044] 30, spraying module; 300, liquid path; 31, intermediate flow channel; 32, hard variable bending flow channel; 321, first variable section; 3211, first inlet end; 3212, first outlet end; 322, second variable section; 3221, second inlet end; 3222, second outlet end; 33, nozzle; 34, connecting rod; 35, mounting seat; 351, fixed end; 3510, arc-shaped positioning groove; 352, connecting end; 353, support part; 36, mounting frame; 361, positioning protrusion;
[0045] 40, liquid supply module; 41, liquid storage tank;
[0046] 50, first rotating assembly; 51, first steering engine; 52, wire guard;
[0047] 60, second rotating assembly; 61, second steering engine;
[0048] 70, vision module;
[0049] 80, unmanned aerial vehicle;
[0050] 90, object to be sprayed; 91, obstacle. DETAILED DESCRIPTION
[0051] In the following description, for purposes of explanation and not limitation, specific details are set forth such as particular architectures, technologies, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application can be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.
[0052] It should also be understood that the term “and / or” as used herein refers to any one or combination of the associated listed items and all possible combinations thereof, and includes these combinations.
[0053] It should be noted that when an element is referred to as being “connected to” or “set on” another element, it can be directly connected to the other element or indirectly connected to the other element via a further element. When an element is referred to as being “connected to” or “set on” another element, it can be directly connected to the other element or indirectly connected to the other element via a further element.
[0054] It should be understood that the terms "length", "width", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like, indicate directions or positions based on the directions or positions shown in the drawings, and are used only for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.
[0055] In addition, in the description of the present application and the appended claims, the terms "first", "second", "third" and the like are used only to distinguish the description and cannot be understood as indicating or implying relative importance.
[0056] In the present application, the reference "one embodiment" or "some embodiments" and the like means that the specific features, structures or characteristics described in connection with the embodiment are included in one or more embodiments of the present application. Therefore, the statements "in some embodiments", "in some embodiments", "in other some embodiments", "in further some embodiments" and the like appearing in different places in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized. The terms "include", "contain", "have" and their variants mean "include but not limited to", unless otherwise specifically emphasized. "Multiple" means two or more.
[0057] In a first aspect, as shown in Figure 1 and Figure 2 The present application provides a suspended operation spraying device and a UAV 80 to form a suspended operation spraying system for completing suspended spraying operation. The suspended operation spraying device includes a control box 10, a flexible active adjustment module 20 and a spraying module 30.
[0058] The spraying module 30 is connected with the UAV 80 through the flexible active adjustment module 20. The flexible active adjustment module 20 can actively adjust the relative position of the spraying module 30 and the UAV 80, and at the same time buffer the force acting on the UAV 80 due to the change of the relative position of the whole or part of the suspended operation spraying device and the UAV 80, so that the UAV 80 has a stable flight state, and the suspended operation spraying system can work stably when the spraying module 30 changes the spraying direction. The spraying module 30 has a nozzle 33 away from the UAV 80 and easy to adjust. The nozzle 33 adjusts the spraying range by changing the orientation, so as to cooperate with the UAV 80 to work, so as to realize the suspended spraying operation of fully covering the combined facade in a narrow space in multiple directions.
[0059] In the application, at present, when the power industry maintains the power transmission system and the power distribution system (mainly the power tower and the wire pole), the paint repair of the insulating parts is a necessary link in the maintenance operation. At present, this operation is mainly solved by the high-altitude operation of workers, which has great safety hazards and causes high labor costs. Taking the insulating part as an example, the object to be sprayed 90 is usually blocked by the signal tower body, and the spraying operation thereof is difficult to meet the requirements. Through the use of the aerial operation spraying device provided by the application, under the driving of the unmanned aerial vehicle 80, the relative position between the spraying module 30 and the unmanned aerial vehicle 80 is actively adjusted through the flexible active adjustment module 20, so that the orientation of the nozzle 33 can effectively spray the object to be sprayed 90, and the flexible active adjustment module 20 can buffer the force of the aerial operation spraying device on the unmanned aerial vehicle 80 due to the change of the relative position between the whole or part of the aerial operation spraying device and the unmanned aerial vehicle 80, so that the unmanned aerial vehicle 80 has a stable flight state, thereby improving the stability of the aerial operation spraying system. Further, since the nozzle 33 can change the orientation to adjust the spraying range, the unmanned aerial vehicle 80 can be combined to realize the aerial spraying operation of the multi-orientation combined facade in a small space, so as to cope with the complex spraying operation at high altitude.
[0060] In some embodiments, as shown in Figure 1 and Figure 2 The aerial operation spraying device further comprises a liquid supply module 40, the liquid supply module 40 comprises a pump (not shown in the figure) and a liquid storage tank 41, the pump is arranged in the control box 10, and the liquid storage tank 41 is connected with the control box 10.
[0061] The spraying module 30 further comprises a liquid path 300 connected with the pump and the nozzle 33 and having an adjustable orientation, and a connecting rod 34 supporting the liquid path 300, the liquid path 300 comprises an intermediate flow channel 31, a hard variable bending flow channel 32 and the nozzle 33 connected in sequence, the intermediate flow channel 31 has a hard connection end at the end, the hard connection end is fixedly connected or integrally arranged with the end of the connecting rod 34, the hard variable bending flow channel 32 comprises an inlet end connected with the intermediate flow channel 31 and an outlet end connected with the nozzle 33, the inlet end and the outlet end are arranged at an angle, the inlet end is rotationally connected with the hard connection end of the intermediate flow channel 31, the axis direction of the rotational connection is parallel to the liquid flow direction of the inlet end, when the hard variable bending flow channel 32 rotates, the orientation of the nozzle 33 changes with the change of the orientation of the outlet end, and at the same time, the intermediate flow channel 31 and the connecting rod 34 maintain a consistent stable posture, so that the aerial operation spraying system is more stable as a whole.
[0062] In the application, the hard variable bending flow channel 32 is hard in material, which can improve the rigidity of the liquid path 300; and the variable bending flow channel can adjust the liquid path 300, that is, the nozzle 33 can change the orientation of the outlet end according to the position of the specific spraying target surface of the object to be sprayed 90, so as to realize accurate spraying of the object to be sprayed 90.
[0063] In some embodiments, as shown in Figures 1 to 4 The suspended operation spraying device further comprises a first rotating assembly 50, and the hard variable bending flow channel 32 comprises a first variable section 321 having a first inlet end 3211 and a first outlet end 3212, the first inlet end 3211 and the first outlet end 3212 are arranged at an angle, the first rotating assembly 50 drives the first variable section 321 to rotate, and the rotation axis is parallel to the axis of the first inlet end 3211. In this way, the hard variable bending flow channel 32 is rotated by the first rotating assembly 50, so that the liquid path 300 is adjustable; in addition, the rotation axis parallel to the axis of the first inlet end 3211 can effectively improve the stability of the entire spraying module 30 when adjusting the orientation of the nozzle 33, so as to ensure stable and accurate spraying of the object to be sprayed 90.
[0064] In some embodiments, as shown in Figures 1 to 4 The suspended operation spraying device comprises not only the first rotating assembly 50, but also a second rotating assembly 60, and the hard variable bending flow channel 32 further comprises a second variable section 322 having a second inlet end 3221 and a second outlet end 3222, the second inlet end 3221 and the second outlet end 3222 are arranged at an angle, the second rotating assembly 60 drives the second variable section 322 to rotate, and the rotation axis of the second rotating assembly 60 is parallel to the axis of the second inlet end 3221.
[0065] The first inlet end 3211 is rotatably connected to the end of the intermediate flow channel 31, the first outlet end is coaxially rotatably connected to the second inlet end 3221, and the second outlet end 3222 is connected to the nozzle 33. By arranging two groups of rotating assemblies, the variable bending flow channel is rotated in different directions, so that a larger angle and a larger range of spraying range can be realized to meet the operation requirements of suspended spraying operation in complex scenes.
[0066] In some embodiments, the flexible active adjustment module 20 rotates vertically to adjust the relative position of the spraying module 30 and the drone 80 in the vertical direction, thereby adjusting the spraying range to adapt to the drone 80 for aerial spraying operations. The rotation directions of the first rotating component 50 and the second rotating component 60 are perpendicular to each other; that is, there are two cases: one is that the rotation direction of the first rotating component 50 is vertical and the rotation direction of the second rotating component 60 is horizontal; the other is that the rotation direction of the first rotating component 50 is horizontal and the rotation direction of the second rotating component 60 is vertical. By coordinating the rotation directions of the first rotating component 50 and the second rotating component 60, the orientation adjustment of the entire liquid path 300 and the nozzle 33 can be maximized, thereby enabling spraying of any surface of the object 90 to be sprayed.
[0067] It should be noted that, generally speaking, drones typically fly in space that is parallel to or perpendicular to the horizontal plane. The vertical direction refers to the direction perpendicular to the horizontal plane, while the horizontal direction refers to the direction parallel to the horizontal plane.
[0068] In some embodiments, such as Figure 1 , Figure 2 as well as Figure 5 As shown, the flexible active adjustment module 20 includes a first fixed base 21, a second fixed base 22, and a flexible drive structure 23;
[0069] The first fixed base 21 is rotatably connected to the UAV 80;
[0070] The second fixed base 22 is rotatably connected to the control box 10;
[0071] The flexible drive structure 23 is disposed between the first fixed seat 21 and the second fixed seat 22, and the two ends of the flexible drive structure 23 are respectively connected to the first fixed seat 21 and the second fixed seat 22. The flexible drive structure 23 performs telescopic movement in the vertical direction.
[0072] The second fixed seat 22 rotates on a plane perpendicular to the horizontal plane under the extension and retraction of the flexible drive structure 23, so as to realize the adjustment of the nozzle 33 angle, the adjustment of the coupling degree of motion state of the UAV 80 and the rigid variable bending flow channel 32 during rotation and vibration, the adjustment of the rotation amplitude of the rigid variable bending flow channel 32, the adjustment of the intermediate flow channel 31, and the adjustment of the control box 10 and / or the liquid supply module 40.
[0073] In application, due to the presence of the flexible driving structure 23, when the nozzle 33 is not matched with the orientation of the object to be sprayed 90, the nozzle 33 can be adjusted in the vertical direction by stretching and contracting to align the target surface of the object to be sprayed 90, and during the movement of the unmanned aerial vehicle 80 to a certain height, the unmanned aerial vehicle 80 and the spraying module 30 will generate a certain force, the hard variable bending flow channel 32 will also generate vibration during rotation adjustment, the liquid in the control box 10 and the liquid tank 41 will shake, resulting in the deviation and shaking of the spraying module 30 and the unmanned aerial vehicle 80, thereby affecting the normal spraying operation; the presence of the flexible driving structure 23 can effectively buffer the force between the two, thereby maintaining the stability of the entire spraying system.
[0074] In some embodiments, as shown in Figures 2 to 6 The aerial work spraying device also includes a mounting seat 35 connected with the intermediate flow channel 31, and the end of the intermediate flow channel 31 penetrates one end of the mounting seat 35, the two ends of the connecting rod 34 are connected with the control box 10 and the mounting seat 35 respectively, and the intermediate flow channel 31 is arranged along the connecting rod 34; the length of the intermediate flow channel 31 is greater than the length of the hard variable bending flow channel 32; connected through the connecting rod 34 to assist the installation of the intermediate flow channel 31 and improve the stability, and the length of the intermediate flow channel 31 is greater than the length of the hard variable bending flow channel 32, so that the nozzle 33, the intermediate flow and the hard variable bending flow channel 32 do not interfere with the propeller of the unmanned aerial vehicle 80, that is, the adjustment range can be increased.
[0075] In application, the middle part of the connecting rod 34 can be bent, because the intermediate flow channel 31 is longer, a longer connecting rod 34 is needed to assist in fixing, and the space occupied by the too long connecting rod 34 is larger during transportation, so it is set to be bendable, that is, convenient for transportation, and effectively prevents damage or breakage of the connecting rod 34 during transportation. In application, the intermediate flow channel 31 can also be arranged inside the connecting rod 34, and in other embodiments, the intermediate flow channel 31 can be a hard flow channel, at this time the intermediate flow channel 31 has the functions of conveying the spraying object and connecting the control box 10 and the mounting seat 35.
[0076] In application, as shown in Figure 2As shown, the middle part of the control box 10 is formed with a mounting groove 100, and the liquid storage tank 41 is embedded in the mounting groove 100 and located directly below the flexible active adjustment module 20, so as to prevent the change of the liquid amount in the liquid storage tank 41 from affecting the center of gravity of the aerial spraying device during the high-altitude spraying operation. During the operation, when the unmanned aerial vehicle 80 flies or hovers for spraying, the liquid in the liquid storage tank 41 also moves, so that the center of gravity of the whole changes and the decrease of the liquid amount after spraying also causes the center to change, which finally affects the stable flight of the unmanned aerial vehicle 80. Therefore, the liquid storage tank 41 is embedded in the mounting groove 100 and located at the center position, so as to reduce the possibility of change of the center of gravity and improve the stability of the whole spraying system.
[0077] In application, the liquid storage tank 41 is located directly below the flexible active adjustment module, so that the change of the paint amount in the liquid storage tank 41 will not affect the moment of inertia of the whole device.
[0078] In the prior art, a peristaltic pump is used for spraying: a traditional paint spraying scheme uses a high-pressure air compressor (200W or more power, generating a pressure of about 500kpa or more and an air flow of 200L / min or more) to provide air flow, generate negative pressure at the end, suck paint for gas-liquid mixing, and then spray. However, the effective paint spraying distance is usually only 0.2m.
[0079] If it is installed on a 3kg or less load unmanned aerial vehicle 80, it cannot be used due to high power and heavy weight, and due to the short effective paint spraying distance, the unmanned aerial vehicle 80 needs to be very close to the sprayed object, which is very unsafe, or the liquid path 300 needs to be very long, but this still increases the risk of collision. We use a peristaltic pump, cooperate with a nozzle 33 with a hole diameter of 1mm and an opening amplitude of 30° or less, which can ensure that the effective spraying distance reaches 0.8m and can meet many high-altitude component maintenance scenarios that only require paint coverage but do not require uniformity. In the peristaltic pump, a hose made of BPT material is used, which is difficult to be corroded by paint.
[0080] In some embodiments, as shown in FIG. 1, Figures 4 to 6 As shown in FIG. 1, the first rotating assembly 50 includes a first steering engine 51 arranged on the mounting seat 35. In other embodiments, the second rotating assembly 60 includes a second steering engine 61 arranged on the mounting seat 35.
[0081] In some embodiments, as shown in FIG. 1, Figures 4 to 6As shown, the mounting seat 35 has oppositely arranged fixed ends 351 and a connecting end 352 connecting the two fixed ends 351, and the mounting space is formed between the two fixed ends 351, and the support part 353 is arranged on the connecting end 352 and located in the mounting space;
[0082] The first rotating assembly 50 includes a first steering engine 51, the first inlet end 3211 is rotationally connected to the end of the intermediate flow channel 31, the first steering engine 51 is arranged on the fixed end 351 away from the intermediate flow channel 31, and the rotation shaft of the first steering engine 51 is coaxially arranged with the first inlet end 3211, the first steering engine 51 is connected to the control box 10 through the first wire, the first wire is arranged along the connecting rod 34 and the mounting seat 35, and the first steering engine 51 is used for controlling the first variable section 321 to rotate in the vertical direction.
[0083] In some embodiments, as shown in Figures 4 to 6 As shown, the fixed end 351 provided with the first steering engine 51 is also rotationally provided with a mounting bracket 36, the mounting bracket 36 rotates with the first variable section 321, the first variable section 321 is fixedly connected with the mounting bracket 36, the second variable section 322 is rotationally connected with the mounting bracket 36 or is gap-fitted with the mounting bracket 36, the mounting bracket 36 has two inner cavities at an angle, and each inner cavity covers different parts of the first variable section 321 at an angle; so that the mounting bracket 36 and the first variable section 321 are connected as a whole, so that the control and adjustment of the rotation of the first variable section 321 can be enhanced.
[0084] The second rotating assembly 60 includes a second steering engine 61, the second steering engine 61 is connected with the mounting bracket 36, the second steering engine 61 is connected to the control box 10 through the second wire, the second wire is arranged in the connecting rod 34, the mounting seat 35 and the mounting bracket 36, and the second steering engine 61 is used for controlling the second variable section 322 to rotate, and the rotation direction of the second variable section 322 is perpendicular to the rotation direction of the first variable section 321. Through the first wire and the second wire connected to the power supply in the control box 10, the power supply can be increased here without the mounting seat 35, thereby reducing the load of the end of the spraying module 30.
[0085] In some embodiments, as shown in Figures 4 to 6 As shown, the first rotating assembly 50 includes a wire wrapping guard 52, the wire wrapping guard 52 is arranged at a corresponding position of the first steering engine 51, and the wire wrapping guard 52 provides a winding space for the first wire to prevent interference of the first wire during rotation and thus cause extrusion damage.
[0086] In some embodiments, as shown in Figure 7As shown, the fixed end 351 is provided with an arc-shaped positioning slot 3510, which is located on the side of the fixed end 351 close to the installation space, and the mounting frame 36 is provided with a positioning protrusion 361 extending into the arc-shaped positioning slot 3510. The positioning protrusion 361 rotates in the arc-shaped positioning slot 3510, and the rotation angle is ±90°. The rotation angle of the first variable section 321 can be roughly judged from the relative position of the positioning protrusion 361 and the arc-shaped positioning slot 3510. In some embodiments, an angle scale can also be provided on the side of the arc-shaped positioning slot 3510, so that the rotation angle of the first variable section 321 can be read in real time, so as to accurately adjust the rotation amplitude of the first variable section 321.
[0087] In some embodiments, the wire protection plate 52 is arranged between the first steering engine 51 inside the fixed end 351 of the mounting seat 35 and the positioning protrusion 361, close to the rotating shaft of the first steering engine 51. The first wire enters the inside of the mounting frame 36 through the positioning protrusion 361, and when the positioning protrusion 361 drives one end of the first wire to rotate along the arc-shaped positioning slot 3510, the part of the first wire outside the positioning protrusion 361 rotates between the inside of the fixed end 351 provided with the arc-shaped slot 3510 and the wire protection plate 52 without being interfered / pressed or wound.
[0088] In other embodiments, the first rotating assembly 50 is arranged in the control box 10 or the connecting rod 34, and the first rotating assembly 50 connects the first inlet end 3211 and the end of the intermediate flow channel 31 through the first transmission member, so as to drive the first variable section 321 to rotate around the axis of the first inlet end 3211. In other embodiments, the second rotating assembly 60 is arranged in the control box 10 or the connecting rod 34, and the second rotating assembly 60 connects the first outlet end 3212 and the second inlet end 3221 through the second transmission member, so as to drive the second variable section 322 to rotate around the axis of the second inlet end 3221. In this way, the weight of the end of the spraying module 30 can be further reduced, so as to improve the sensitivity and operability of the rotation adjustment of the spraying module 30. In application, the first transmission member and the second transmission member include one of a pull rope, a belt and a synchronous belt.
[0089] In some embodiments, the control box 10 is further provided with a first control module for controlling the angle and relative position between the unmanned aerial vehicle 80 and the nozzle 33 of the first rotating assembly 50 and / or the second rotating assembly 60, and a second control module for controlling the opening and closing of the spraying module 30. The first control module is electrically connected with the first rotating assembly 50 and / or the second rotating assembly 60, and the second control module is electrically connected with the spraying module 30. In application, the first control module and the second control module are both integrated on the operating handle of the unmanned aerial vehicle 80, so that the unmanned aerial vehicle 80 can be controlled in real time, and the orientation of the liquid path 300 and the nozzle 33 can be adjusted to face the target surface of the object 90 to be sprayed in the best pose, so that precise and full-coverage spraying operation can be realized.
[0090] In some embodiments, as shown in Figure 1 , the control box 10 is further provided with an interface 101 for connecting the power supply and communication of the unmanned aerial vehicle 80, which is connected with the control box 10 by wires, so that the unmanned aerial vehicle 80 can be conveniently adapted through the mechanical, power supply, communication and software control interface 101.
[0091] In some embodiments, as shown in Figure 1 and Figure 2 , the control box 10 is provided with an indicator light 13 to display the connection state of the aerial work spraying device and the unmanned aerial vehicle control system. The state indicator light 13 displays different states of the unmanned aerial vehicle control system connection in different colors and different combinations of length, frequency and brightness. The indicator light 13 is arranged on the rear side of the control box; 1, red light flashing is the linux development board in the booting; 2, yellow light flashing is the connection of the unmanned aerial vehicle control system; 3, green light always on is that the unmanned aerial vehicle control system has been connected; 4, red light always on is that the unmanned aerial vehicle control system connection fails, abnormal exit, etc.
[0092] In some embodiments, as shown in Figure 5 , the aerial work spraying device further comprises a vision module 70 arranged on the control box 10. The vision module 70 is used to acquire the relative position information between the target spraying surface of the object 90 to be sprayed and the unmanned aerial vehicle 80 in real time, and transmit the relative position information to the first control module and the second control module. The first control module controls the first rotating assembly 50 and / or the second rotating assembly 60 to rotate by a corresponding angle according to the relative position information, so that the nozzle 33 moves to a preset position. Then the second control module controls the spraying module 30 to open, and sprays the target spraying surface of the object 90 to be sprayed. In application, the vision module 70 includes a camera, which is arranged in the control box 10 and penetrates through the side of the control box 10 provided with the nozzle 33, so as to acquire the real-time position of the nozzle 33 and the relative position of the target spraying surface of the object 90 to be sprayed.
[0093] In some embodiments, as shown in Figure 1 and Figure 5 , the control box 10 is provided with an indicator light 13 to display the connection state of the aerial work spraying device and the unmanned aerial vehicle control system. The state indicator light 13 displays different states of the unmanned aerial vehicle control system connection in different colors and different combinations of length, frequency and brightness. The indicator light 13 is arranged on the rear side of the control box; 1, red light flashing is the linux development board in the booting; 2, yellow light flashing is the connection of the unmanned aerial vehicle control system; 3, green light always on is that the unmanned aerial vehicle control system has been connected; 4, red light always on is that the unmanned aerial vehicle control system connection fails, abnormal exit, etc.As shown, the lens of the visual positioning module is provided with a mounting portion 11 and a lens protection sheet 12 detachably arranged on the mounting portion 11 to prevent the lens of the visual positioning module from being contaminated by droplets of the sprayed material during the spraying operation.
[0094] In applications, as shown in Figure 8 and Figure 9 As shown, the actual operation of the aerial operation spraying device is that the aerial operation spraying device is used for automatic spraying on the to-be-sprayed object 90 to cover all surfaces of the to-be-sprayed object 90, wherein at least one side of the to-be-sprayed object 90 has an obstacle 91, and at least one side of the to-be-sprayed object 90 does not have an obstacle 91, and the distance between the obstacle 91 on any side of the to-be-sprayed object 90 and the to-be-sprayed object 90 is 0.5 m to 1 m. In applications, the distance between the obstacle 91 on any side of the to-be-sprayed object 90 and the to-be-sprayed object 90 is 0.5 m, 0.6 m, 0.7 m, 0.8 m, 0.9 m, 1 m, or any distance within the range of 0.5 m to 1 m.
[0095] In other embodiments, the aerial operation spraying device is used for automatic spraying on the to-be-sprayed object 90 to cover all surfaces of the to-be-sprayed object 90, wherein only one side of the to-be-sprayed object 90 does not have an obstacle 91.
[0096] The spraying distance of the nozzle 33 is 0.5 m to 1 m, and the spraying angle of the nozzle 33 is 20° to 90°; the straight-line distance between the nozzle 33 and the blade of the unmanned aerial vehicle 80 is 0.5 m to 0.8 m.
[0097] In applications, the effective spraying distance of the nozzle 33 is 0.5 m, 0.6 m, 0.7 m, 0.8 m, 0.9 m, 1 m, or any distance within the range of 0.5 m to 1 m; the spraying angle of the nozzle 33 is 20°, 30°, 40°, 50°, 60°, 70°, 80°, 90°, or any angle within the range of 20° to 90°; and the straight-line distance between the nozzle 33 and the blade of the unmanned aerial vehicle 80 is 0.5 m, 0.6 m, 0.7 m, 0.8 m, or any distance within the range of 0.5 m to 0.8 m.
[0098] In applications, when the aerial operation spraying device provided by the present application is used to spray viscous liquid, the nozzle 33 has an atomization function, the aperture of the nozzle 33 is less than or equal to 1.5 mm, and the spraying angle of the nozzle 33 is 0° to 30°. In actual applications, the effective spraying distance is S, the particle diameter is D when the liquid is ejected from the nozzle 33, the flow rate is W when the liquid is ejected from the nozzle 33, the pressure generated by the spraying device is P, the flow rate in the liquid path 300 is F, and the flow rate is V.
[0099] According to the Navier-Stokes equation:
[0100]
[0101] Wherein, μ is the liquid flow rate, ρ is the liquid density, p is the pressure, τ is the deviatoric stress tensor of the liquid itself, and g represents the acceleration it is subjected to when flowing;
[0102] If the liquid is to be effectively sprayed on a distant target, after being sprayed horizontally, its vertical deviation before reaching the target cannot exceed 2 cm; according to the free-fall operation formula L = g * t * t / 2, it can be calculated that the average speed needs to reach 15 m / s, the density is usually less than 2 kg / L, the pressure generated by the peristaltic pump is usually between 0.2 mPa and 0.5 mPa, the aperture of the front atomizing nozzle 33 is 1.5 mm or less, and the spray angle is 30° or less. Stable spraying can be achieved.
[0103] The aerial work device provided by the present application has the following advantages:
[0104] I. Precise spraying: automatic spraying function, remote autonomous control of spraying range (angle range of rotation, single or cyclic spraying within the set range), flexible response to complex scenes and tasks, precise spraying to specified ranges in different directions; AR positioning of spraying targets can be performed on the operation interface, and the spraying target is highlighted to achieve automatic and precise spraying.
[0105] II. Convenient deployment and easy to use: convenient and fast deployment, modular buckle type design of the liquid storage tank, convenient replacement and maintenance, and fast response to on-site needs.
[0106] III. Integration of flight control, seamless integration with the unmanned aerial vehicle 80 system, single-person control of flight and spraying, simple and easy to use; at the same time, the unmanned aerial vehicle 80 can remotely feedback the spraying target through the remote control screen, and execute more efficiently and accurately.
[0107] In the second aspect, the present application also provides an aerial work spraying method, which uses the aerial work spraying device of the first aspect and the unmanned aerial vehicle 80 to form an aerial work spraying system for aerial spraying work, wherein the length, width and height of the object to be sprayed 90 are C, K and G respectively, the length of the liquid path 300 is L, the effective spraying distance of the nozzle 33 is S, the actual rotation angle of the flexible active adjustment module 20 is C1, the actual rotation angle of the first rotation assembly 50 is C2, and the actual rotation angle of the second rotation assembly 60 is C3.
[0108] When the front surface of the object to be sprayed 90 needs to be sprayed, as shown in Figure 10
[0109] If the distance R between the unmanned aerial vehicle 80 and the front face of the object to be sprayed 90 is L+S, the nozzle 33 is directed to the front face of the object to be sprayed 90 for spraying; if C < S / cos30°, the angle of rotation of the flexible active adjustment module 20 is controlled to be 2*arctan(C*0.5 / S);
[0110] When the side face of the object to be sprayed 90 needs to be sprayed, as shown in Figure 11
[0111] The front and back distance of the unmanned aerial vehicle 80 from the starting point of the target spraying surface is controlled to be Ry=(L+S)*cos(C3), the horizontal distance is Rx=(L+S)*sin(C3), and the vertical distance is Rz=(L+S)*cos(90-C1);
[0112] The second rotating assembly 60 is controlled to rotate right or left, and the rotation angle is arc((L+S)*sinC3 / (Ry+K))-C3;
[0113] Wherein, C3 is 30°-50°, and C1=0;
[0114] When the top / bottom face of the object to be sprayed 90 needs to be sprayed, as shown in Figure 12 and Figure 13
[0115] If it is top spraying, first rotate the liquid path 300 downward, and cooperate with the first rotating assembly 50 to make the included angle between the nozzle 33 and the sprayed surface reach 45°;
[0116] If it is bottom spraying, first rotate the liquid path 300 upward, and cooperate with the first rotating assembly 50 to make the included angle between the nozzle 33 and the sprayed surface reach 45°;
[0117] The front and back distance of the unmanned aerial vehicle 80 from the starting point of the target spraying surface is controlled to be Ry=(L+S)*cos(C1+C2), the horizontal distance is Rx=(L+S)*sin(C3), and the vertical distance is Rz=(L+S)*sin(C1+C2)°;
[0118] After starting spraying, the first rotating assembly 50 is controlled to rotate towards the top / bottom face, and the rotation angle is arc((L+S)*sinC1 / (Ry+K))-C1;
[0119] Wherein, C1+C2=30°-50°, and C3=0;
[0120] When the back face of the object to be sprayed 90 needs to be sprayed, as shown in Figure 14
[0121] Firstly, the second rotating assembly 60 is adjusted to a position of 90°, the unmanned aerial vehicle 80 drives the nozzle 33 to approach from a side with wider spacing between the to-be-painted object 90 and the obstacle 91, the included angle between the liquid path 300 and the side of the to-be-painted object 90 is 30°, and the approaching is continued until the edge of the back surface is on the spraying axis of the nozzle 33, so that the distance between the nozzle 33 and the back surface is the effective spraying distance S of the nozzle 33;
[0122] At this time, the horizontal distance between the unmanned aerial vehicle 80 and the back surface of the to-be-sprayed object is Rx=S*cos30°+L*sin30°, the front-rear distance is Ry=L*cos30°-S*sin30°, and the vertical distance is Rz=Ry*ctanC1.
[0123] Wherein, the C1=0.
[0124] As shown in Figure 8 and Figure 9 , the thin line is the surface of the obstacle 91 (in actual cases, it may not be a complete wall surface, but there will be an obstacle 91 in the space plane).
[0125] The case shown in the above figure is relatively extreme, and there is no obstacle 91 near one surface of an object;
[0126] When the unmanned aerial vehicle 80 is flying, in order to ensure safety, any obstacle 91 cannot reach a range of 1 m from the propeller, and at the same time, in order to ensure stable flight and that the sprayed liquid is not affected by the wind of the propeller, the distance between the nozzle 33 and the propeller is 0.5 m to 0.8 m.
[0127] Under normal circumstances, in order to meet the spraying effect and flight safety, the effective spraying distance should reach 0.5 m to 1 m, and the spraying width should be more than 20°.
[0128] In the above schematic diagram, the distance between the sprayed object and the obstacle 91 is limited:
[0129] 0.5 m<H1<1 m; 0.5 m<H2<1 m; 0.5 m<H3<1 m; 0.5 m<D1<1 m; 0.5 m<D2<1 m; 1.5 m<D3<1 m.
[0130] The schematic diagram of spraying each side of the to-be-painted object 90 is shown in Figures 10 to 14 To achieve the above spraying effect, the maximum rotatable angle of the flexible active adjustment module 20 and the second rotating assembly 60 is ±20° to ±90°, and the maximum rotation angle of the first rotating assembly 50 is ±20° to ±60°.
[0131] L is in the range of 50 cm to 100 cm; S is in the range of 40 cm to 100 cm; C, K and G are in the range of 3 cm to 50 cm.
[0132] The above-described embodiments are only used to illustrate the technical solutions of the present application, but not limit the present application; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be included in the protection scope of the present application.
Claims
1. A suspended operation spraying device, which, together with a drone, forms a suspended operation spraying system to complete a suspended operation spraying task, characterized in that, The aerial work spraying device comprises a control box, a flexible active adjusting module and a spraying module; The spraying module is connected with the unmanned aerial vehicle through the flexible active adjusting module, the flexible active adjusting module can actively adjust the relative position of the spraying module and the unmanned aerial vehicle, and simultaneously buffer the force acting on the unmanned aerial vehicle due to the change of the relative position of the whole or part of the aerial work spraying device and the unmanned aerial vehicle, so that the unmanned aerial vehicle has a stable flight state, and the aerial work spraying system can work stably when the spraying module changes the spraying direction. The spraying module has a nozzle away from the unmanned aerial vehicle and easy to adjust, the nozzle adjusts the spraying range by changing the orientation to cooperate with the unmanned aerial vehicle to realize the aerial spraying work of fully covering the combined facade in a narrow space.
2. The suspended work spray apparatus of claim 1, wherein, The aerial work spraying device further comprises a liquid supply module, the liquid supply module comprises a pump arranged in the control box and a liquid storage tank connected with the control box; The spraying module further comprises a liquid path with an adjustable end orientation connecting the pump and the nozzle and a connecting rod supporting the liquid path, the liquid path comprises an intermediate flow channel, a hard variable bending flow channel and the nozzle connected in sequence, the intermediate flow channel has a hard connection end at the end, the hard connection end is fixedly connected or integrally arranged with the end of the connecting rod, the hard variable bending flow channel comprises an inlet end connected with the intermediate flow channel and an outlet end connected with the nozzle, the inlet end and the outlet end are arranged at an angle, the inlet end is rotationally connected with the hard connection end, the axis direction of the rotational connection is parallel to the liquid flow direction of the inlet end, when the hard variable bending flow channel rotates, the orientation of the nozzle changes with the change of the orientation of the outlet end, and at the same time, the intermediate flow channel and the connecting rod maintain a consistent stable posture, so that the aerial work spraying system is more stable as a whole.
3. The suspended work spray apparatus of claim 2, wherein, The aerial work spraying device further comprises a first rotating assembly, the hard variable bending flow channel comprises a first variable segment having a first inlet end and a first outlet end, the first inlet end and the first outlet end are arranged at an angle, the first rotating assembly drives the first variable segment to rotate, and the rotation axis is parallel to the axis of the first inlet end.
4. The suspended work spray apparatus of claim 3, wherein, The aerial work spraying device further comprises a second rotating assembly, the hard variable bending flow channel further comprises a second variable segment having a second inlet end and a second outlet end, the second inlet end and the second outlet end are arranged at an angle, the second rotating assembly drives the second variable segment to rotate, and the rotation axis is parallel to the axis of the second inlet end. The first inlet end is rotationally connected with the end of the intermediate flow channel, the first outlet end is coaxially rotationally connected with the second inlet end, and the second outlet end is connected with the nozzle.
5. The suspended work spray apparatus of claim 4, wherein, The rotation direction of the flexible active adjusting module is vertical; And / or, the rotation direction of the first rotating assembly is vertical, and the rotation direction of the second rotating assembly is horizontal; Or, the rotation direction of the first rotating assembly is horizontal, and the rotation direction of the second rotating assembly is vertical.
6. The suspended work spray apparatus of claim 4, wherein, The overhanging operation spraying device further comprises a mounting seat connected with the intermediate flow channel, and the end of the intermediate flow channel penetrates one end of the mounting seat, and the two ends of the connecting rod are connected with the control box and the mounting seat respectively, and the intermediate flow channel is arranged along the connecting rod; the length of the intermediate flow channel is greater than the length of the hard variable bending flow channel; The middle part of the control box is formed with a mounting groove, and the liquid storage tank is embedded in the mounting groove and located directly below the flexible active adjusting module, so as to prevent the change of the liquid amount in the liquid storage tank from affecting the center of gravity of the overhanging operation spraying device during high-altitude spraying operation.
7. The suspended work spray apparatus of claim 6, wherein, The mounting seat has oppositely arranged fixed ends and a connecting end connecting the two fixed ends, and an installation space is formed between the two fixed ends, and a supporting part is arranged on the connecting end and located in the installation space. The first rotating assembly comprises a first steering engine, the first inlet end and the end of the intermediate flow channel are rotationally connected to the supporting part, the first steering engine is arranged on the fixed end away from the intermediate flow channel, and the rotation shaft of the first steering engine is coaxially arranged with the first inlet end, the first steering engine is connected with the control box through a first wire, the first wire is arranged along the connecting rod and the mounting seat, and the first steering engine is used for controlling the first variable segment to rotate in the vertical direction. The fixed end provided with the first steering engine is further rotationally provided with a mounting bracket, the mounting bracket rotates with the first variable segment, the first variable segment is fixedly connected with the mounting bracket, and the second variable segment is rotationally connected or gap-fitted with the mounting bracket, the mounting bracket has two inner cavities at an angle, and each inner cavity covers different parts of the first variable segment at an angle. The second rotating assembly comprises a second steering engine, the second steering engine is connected with the mounting bracket, the second steering engine is connected with the control box through a second wire, the second wire is arranged in the connecting rod, the mounting seat and the mounting bracket, the second steering engine is used for controlling the second variable segment to rotate, and the rotation direction of the second variable segment is perpendicular to the rotation direction of the first variable segment. The first rotating assembly comprises a wire winding guard, the wire winding guard is arranged at the corresponding position of the first steering engine, and the wire winding guard provides a winding space for the first wire to prevent the first wire from being interfered and squeezed during rotation.
8. The suspended work spray apparatus of claim 3, wherein, The first rotating assembly is arranged in the control box or the connecting rod, and the first rotating assembly drives the first variable segment to rotate around the shaft of the first inlet end through a first transmission member. The first transmission member comprises one of a pull rope, a belt and a synchronous belt.
9. The suspended work spray apparatus of claim 7, wherein, The fixed end is provided with an arc-shaped positioning groove, the arc-shaped positioning groove is located on the side of the fixed end close to the installation space, the mounting bracket is provided with a positioning protrusion extending into the arc-shaped positioning groove, the wire winding guard is arranged in the interior of the fixed end and located between the first steering engine and the positioning protrusion.
10. The suspended work spray apparatus of claim 2, wherein, The flexible active adjusting module comprises: A first fixed seat is rotatably connected with the unmanned aerial vehicle; A second fixed seat is rotatably connected with the control box; and A flexible driving structure is arranged between the first fixed seat and the second fixed seat, and two ends of the flexible driving structure are respectively connected with the first fixed seat and the second fixed seat, and the flexible driving structure performs telescopic movement along the vertical direction. The second fixed seat rotates in a plane perpendicular to the horizontal plane under the telescopic driving of the flexible driving structure, so as to realize the angle adjustment of the nozzle, the motion state coupling degree adjustment of the unmanned aerial vehicle and the hard variable curved flow channel during rotation and vibration, the rotation amplitude adjustment of the hard variable curved flow channel, the adjustment of the intermediate flow channel, and the adjustment of the control box and / or the liquid supply module.
11. The suspended work spray apparatus of claim 2, wherein, The control box is further provided with a first control module for controlling the first rotating assembly and / or the second rotating assembly to control the angle and relative position between the unmanned aerial vehicle and the nozzle, and a second control module for controlling the spraying module to open and close, the first control module is electrically connected with the first rotating assembly and / or the second rotating assembly, and the second control module is electrically connected with the spraying module; The control box is further provided with an interface for connecting the power supply and communication of the unmanned aerial vehicle, which is connected with the control box through wires, so that the unmanned aerial vehicle can be conveniently adapted through mechanical, power supply, communication and software control interfaces; The control box is provided with an indicator light to display the connection state of the suspended operation spraying device and the unmanned aerial vehicle control system.
12. The suspended work spray apparatus of claim 11, wherein, A vision module is further included, which is arranged in the control box, and is used to acquire the relative position information between the target spraying surface of the object to be sprayed and the unmanned aerial vehicle in real time, and transmit the relative position information to the first control module and the second control module, the first control module controls the first rotating assembly and the second rotating assembly to rotate by a corresponding angle according to the relative position information, so that the nozzle moves to a preset position, and then the second control module controls the spraying module to open, and sprays the target spraying surface of the object to be sprayed; A mounting portion and a lens protection sheet detachably arranged on the mounting portion are arranged at the lens of the vision positioning module, so as to prevent the lens of the vision positioning module from being polluted by spraying liquid droplets during spraying operation.
13. A suspended work spray apparatus according to any one of claims 1 to 12, wherein The suspended operation spraying device is used for automatic spraying of the object to be sprayed, so as to cover all surfaces of the object to be sprayed, wherein at least one side of the object to be sprayed has an obstacle, and at least one side of the object to be sprayed has no obstacle, and the distance between the obstacle on any side of the object to be sprayed and the object to be sprayed is 0.5m-1m.
14. The suspended work spray apparatus of claim 13, wherein, The suspended operation spraying device is used for automatic spraying of the object to be sprayed, so as to cover all surfaces of the object to be sprayed, wherein only one side of the object to be sprayed has no obstacle; And / or, the spraying distance of the nozzle is 0.5m-1m, and the spraying range of the nozzle is 20°-90°; And / or, the straight-line distance between the nozzle and the blade of the unmanned aerial vehicle is 0.5m-0.8m. Or, the nozzle has an atomization function, and a pore size of the nozzle is less than or equal to 1.5 mm, and a spray range of the nozzle is 0-30 degrees.
15. A method of aerial spray application, characterized in that The aerial work spraying device as claimed in any one of claims 4 to 14 is combined with a drone to form an aerial work spraying system for performing an aerial spraying work on a to-be-sprayed object, the to-be-sprayed object has a length, a width and a height of C, K and G respectively, a length of the liquid path is L, an effective spraying distance of the nozzle is S, an actual rotation angle of the flexible active adjusting module is C1, an actual rotation angle of the first rotating assembly is C2, and an actual rotation angle of the second rotating assembly is C3. When the front surface of the to-be-sprayed object needs to be sprayed, If the distance R between the drone and the front surface of the to-be-sprayed object is L+S, the nozzle is controlled to spray the front surface of the to-be-sprayed object directly, and if C When the side surface of the to-be-sprayed object needs to be sprayed, The front-to-back distance of the drone from the starting point of the target spraying surface is controlled to be Ry=(L+S)*cos(C3), the horizontal distance is Rx=(L+S)*sin(C3), and the vertical distance is Rz=(L+S)*cos(90-C1). The second rotating assembly is controlled to rotate rightward or leftward, and the rotation angle is arc((L+S)*sinC3 / (Ry+K))-C3. C3 is 30-50 degrees, and C1=0. When the back surface of the to-be-sprayed object needs to be sprayed, First, the second rotating assembly is adjusted to a position of 90 degrees, the drone is controlled to drive the nozzle to approach from the side with a wider spacing between the to-be-sprayed object and an obstacle, an included angle between the liquid path and the side surface of the to-be-sprayed object is 30 degrees, and the approach is continued until the edge of the back surface is on the spraying axis of the nozzle, so that the distance between the nozzle and the back surface is the effective spraying distance S of the nozzle. At this time, the horizontal distance between the drone and the back surface of the to-be-sprayed object is Rx=S*cos30°+L*Sin30°, the front-to-back distance is Ry=L*cos30°-S*sin30°, and the vertical distance is Rz=Ry*ctanC1. C1=0. When the top surface / bottom surface of the to-be-sprayed object needs to be sprayed, If the top surface is sprayed, the liquid path is first rotated downward, and the first rotating assembly is used to make the included angle between the nozzle and the sprayed surface reach 45 degrees. If the bottom surface is sprayed, the liquid path is first rotated upward, and the first rotating assembly is used to make the included angle between the nozzle and the sprayed surface reach 45 degrees. The front-to-back distance of the drone from the starting point of the target spraying surface is controlled to be Ry=(L+S)*cos(C1+C2), the horizontal distance is Rx=(L+S)*sin(C3), and the vertical distance is Rz=(L+S)*sin(C1+C2)°. After starting the spraying, the first rotating assembly is controlled to rotate towards the top surface / bottom surface by an angle of arc((L+S)*sinC1 / (Ry+K))-C1. Wherein, C1+C2=30°-50°, C3=0.