An unmanned aerial vehicle laser ranging trigger type pneumatic stamp device and method

Abstract

This invention discloses an unmanned aerial vehicle (UAV)-borne laser ranging trigger-type pneumatic stamping device and method. The device includes: a UAV; a ranging trigger module for real-time measurement of the distance between the device and the surface to be stamped, and generating a trigger signal when the distance equals a preset trigger threshold; a pneumatic execution system including an air source unit, a pressure control unit, a solenoid valve, and a pneumatic actuator, wherein the pressure control unit maintains the outlet pressure of the air source unit within a preset working range, the solenoid valve opens in response to the trigger signal to guide the gas from the air source unit to the pneumatic actuator, driving its output linear motion; a transmission mechanism having a transmission rod connected to the output end of the pneumatic actuator; a stamp head connected to the end of the transmission rod away from the pneumatic actuator; and a power supply unit for supplying power to the various electrical components in the device; the method is based on the above device. This invention provides precise and automatic triggering, ensuring stable air pressure and precise controllability of the stamping action.

Description

Technical Field

[0001] This invention relates to the field of seal technology, and in particular to an unmanned aerial vehicle (UAV) laser ranging trigger-type pneumatic seal device and method. Background Technology

[0002] In industrial sectors such as power, wind power, petrochemicals, and municipal engineering, a large number of equipment and components (such as high-voltage towers, transmission lines, wind turbine blades, high-altitude pipelines, and bridge structures) require stamps with identification marks indicating inspection qualification, inspection date, and equipment number after manufacturing, installation, inspection, and maintenance for quality traceability and status management. Currently, stamping of such equipment at heights mainly relies on manual methods, where operators use aerial work platforms, scaffolding, and other equipment to climb to the target location and manually stamp the equipment. This method has significant drawbacks: First, working at heights poses a significant safety hazard, easily leading to falls and threatening the lives of operators; second, the work is inefficient, as the setup and movement of aerial work platforms and the movement of personnel are time-consuming, resulting in high operating costs for widely distributed or uniquely located high points; third, manual stamping has blind spots in areas with extremely limited space or where aerial work platforms cannot reach.

[0003] To address the aforementioned issues, existing technologies have developed several automatic stamping devices, primarily used in low-altitude fixed environments such as flat desktops and production lines. These devices are typically driven electrically or manually, with some pneumatic stamping devices driven remotely. However, these systems suffer from the following technical bottlenecks: 1. Low triggering accuracy: Operators struggle to accurately judge the instantaneous distance between the drone's stamping tip and the target surface, easily leading to impact damage or blurred imprints due to improper distance control; 2. Unstable power control: Improper control of the pneumatic system pressure can result in uneven stamping force, affecting stamping quality; 3. Insufficient device integration and lightweight design: Traditional actuators (such as metal push rods) are heavy, impacting drone endurance and flight stability, and lack dedicated stabilizing structures for high-altitude dynamic environments. Summary of the Invention

[0004] To overcome the shortcomings of the existing technology, the present invention provides an unmanned aerial vehicle (UAV) laser ranging trigger-type pneumatic stamping device and method, which has the advantages of precise automatic triggering, ensuring stable air pressure and precise and controllable stamping action.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: In a first aspect, the present invention provides an unmanned aerial vehicle (UAV) laser ranging triggered pneumatic stamp device, comprising: Drones; A ranging trigger module, installed on the UAV, is used to measure the distance between the device and the surface to be stamped in real time, and generate a trigger signal when the distance is equal to a preset trigger threshold; A pneumatic actuator system, installed on the UAV, includes an air source unit, a pressure control unit, a solenoid valve, and a pneumatic actuator. The pressure control unit is used to maintain the outlet pressure of the air source unit within a preset working range. The solenoid valve opens in response to the trigger signal to guide the gas from the air source unit to the pneumatic actuator, driving it to output linear motion. A transmission mechanism, mounted on the UAV, has a transmission rod connected to the output end of the pneumatic actuator; The stamp head is connected to the end of the transmission rod away from the pneumatic actuator; And a power supply unit, used to supply power to each electrical component in the device.

[0006] By adopting the above technical solution, the laser ranging trigger module can accurately capture the distance between the stamp head and the surface to be stamped in real time, eliminating the need for manual judgment by operators. It automatically triggers the stamping action when the distance reaches the preset value, which avoids damage to the target or device due to the drone being too close, and also avoids blurry marks due to the distance being too far. The pressure control unit can continuously maintain the output pressure of the air source unit within the preset working range, ensuring consistent force for each stamping action and avoiding uneven mark depth due to pressure fluctuations, thus effectively improving stamping quality. At the same time, the entire device is integrated and installed on the drone, enabling it to reach high-altitude areas that are difficult for manual climbing operations, eliminating safety hazards of high-altitude operations, reducing operating costs, and improving operating efficiency.

[0007] Optionally, the ranging trigger module is a laser ranging sensor, and the preset trigger threshold is 5cm to 20cm.

[0008] By adopting the above technical solution, the laser rangefinder has a fast response speed and high measurement accuracy, which can meet the dynamic measurement needs of UAVs in flight. The trigger distance range of 5cm to 20cm is suitable for most UAV operation scenarios. It can not only reserve enough flight adjustment space, but also avoid the stamp travel being too long due to excessive trigger distance, which would affect the operation efficiency.

[0009] Optionally, the pressure control unit includes a pressure sensor and a pressure switch electrically connected to the gas source unit. The pressure switch is configured to: connect the gas source unit when the pressure value detected by the pressure sensor is lower than a first preset value; and disconnect the gas source unit when the pressure value is higher than a second preset value; wherein the first preset value is less than the second preset value.

[0010] By adopting the above technical solution, the air pressure is monitored in real time by a pressure sensor, and automatic closed-loop control of the air pressure is achieved in conjunction with a pressure switch. There is no need for frequent manual adjustments. The air source output pressure can be stably maintained within a suitable range, ensuring that the pneumatic actuator outputs consistent thrust each time a stamp is applied, resulting in uniform and consistent stamping depth and stable stamping quality.

[0011] Optionally, the air source unit includes an air pump and an air storage tank. The air pump is used to fill the air storage tank with air. The pressure control unit is connected to the air storage tank. The solenoid valve is located on the pipeline connecting the air storage tank and the pneumatic actuator.

[0012] By adopting the above technical solution, the air storage tank can store compressed air at a stable pressure. With the help of the air pump for automatic pressure replenishment, it can continuously provide a stable air source during continuous stamping operations, avoiding the impact of a sudden drop in pressure after a single use on the next stamping action, and ensuring the stability of continuous operations.

[0013] Optionally, the transmission mechanism further includes an outer tube, the transmission rod is telescopically disposed in the outer tube, the outer tube is connected to the drone, the transmission rod and the outer tube are made of carbon fiber composite material, and the inner wall of the outer tube is provided with a low-friction material layer.

[0014] By adopting the above technical solutions, the presence of the outer sleeve improves the accuracy of the movement direction of the transmission rod. The carbon fiber composite material has the characteristics of high strength and light weight, which can significantly reduce the overall weight of the device while ensuring the strength of the transmission structure, reduce the load on the drone, and improve the device's endurance and flight stability. The low-friction material layer can effectively reduce the frictional resistance during the extension and retraction of the transmission rod, making the stamping action smoother and the response speed faster. It can also reduce structural wear and extend the service life of the device.

[0015] Optionally, the stamp head is connected to the transmission rod via a quick-release structure, and the stamp head is made of a flexible porous material.

[0016] By adopting the above technical solutions, the quick-release structure enables the rapid replacement of stamp heads with different contents, adapting to different operational needs. It eliminates the need for a complete disassembly device, saving replacement time and improving operational flexibility. The flexible, porous stamp head can better adapt to slight unevenness on the surface to be stamped, ensuring complete and clear imprints. At the same time, the porous structure can stably store ink, allowing for multiple stamping operations to be completed continuously, reducing the number of times ink needs to be added midway.

[0017] Optionally, the pneumatic actuator is a single-acting cylinder, which has a reset component inside to reset the output terminal.

[0018] By adopting the above technical solution, the single-acting cylinder has a simple structure, requiring only a solenoid valve to control the air intake. After stamping, the solenoid valve closes the exhaust, and the reset component automatically drives the output end, transmission rod, and stamp head to retract. There is no need to set up an additional exhaust control circuit, which simplifies the structure of the pneumatic system, reduces the overall weight of the device, reduces the complexity of the control logic, and improves the reliability of the device.

[0019] Secondly, the present invention provides a method for using an unmanned aerial vehicle (UAV)-borne laser ranging-triggered pneumatic stamp, based on the aforementioned device, comprising the following steps: Step S100, Preparation and Takeoff: Install the device on the drone and complete the self-test, then control the drone to fly to the target stamping area; Step S200, Positioning and Approach: Control the drone to hover near the target location and adjust its attitude so that the ranging trigger module is aligned with the surface to be stamped; Step S300, Triggering and Stamping: The drone is slowly moved closer to the surface to be stamped. When the distance measured by the ranging trigger module reaches the preset trigger threshold, a trigger signal is automatically generated. The solenoid valve opens in response to the trigger signal, causing the pneumatic actuator to push the transmission rod to extend, thereby making the stamp head contact the surface to be stamped to complete the stamping. Step S400, Reset: After stamping is completed, the control solenoid valve is closed, and the pneumatic actuator drives the transmission rod and stamp head to retract under the action of the reset component; Step S500, continuous operation: Repeat steps S200 to S400 to stamp the next target location; during this process, the pressure control unit continues to work to maintain the output pressure of the air source unit within the preset working range.

[0020] By adopting the above technical solution, the entire stamping process does not require operators to climb to heights. It is automatically triggered by laser ranging, which greatly reduces the safety risks of working at heights. At the same time, the automated triggering and execution process is faster and more efficient than manual stamping. It is suitable for batch stamping of multiple dispersed high-altitude targets. During the operation, the pressure control unit continuously maintains stable air pressure, which can ensure that the pressure of each stamp is consistent and the clarity of the imprint is uniform, effectively guaranteeing the stamping quality of batch operations.

[0021] Optionally, in step S300, the stamp head remains in contact with the surface to be stamped for 0.5 to 3 seconds after contact.

[0022] By adopting the above technical solution, sufficient pressure holding time can allow the ink to be evenly transferred to the surface to be stamped, avoiding the imprint from being blurry and incomplete due to too short a contact time, and also preventing the ink from spreading and diffusing due to too long a holding time, thus ensuring that the edges of the imprint are clear and neat.

[0023] Optionally, the preset trigger threshold is 10cm, and the preset working range is 90psi to 120psi.

[0024] By adopting the above technical solution, the preset trigger threshold of 10cm is suitable for the hovering control precision of most drones. It can not only leave enough hovering adjustment space for the drone to avoid accidental collisions caused by too close distance, but also avoid increasing the stamp extension stroke and prolonging the operation time due to excessive trigger distance. The air pressure range of 90psi to 120psi can adapt to the stamping operation needs in most scenarios, and can enable the pneumatic actuator to output appropriate thrust, which can ensure that the stamp head can stably fit the surface to be stamped to obtain a clear imprint, without damaging the device or target components due to excessive thrust.

[0025] In summary, the beneficial effects of the present invention are as follows: 1. Achieved precise automatic triggering and safe operation for high-altitude stamping: The laser ranging module monitors the spacing in real time and automatically triggers the stamping action when the precise threshold (such as 10cm) is reached, completely replacing manual visual judgment and manual triggering. This solves the problem of equipment collision or unclear stamping caused by improper spacing control in high-altitude environments, while completely avoiding the risks of personnel working at heights.

[0026] 2. Ensures high stability and consistency of power output: By setting up a pneumatic system with pressure feedback control (such as a pressure switch that starts at 90psi and stops at 120psi), the air pressure is automatically stabilized within the optimal working range. This ensures that the thrust and speed output by the pneumatic actuator are constant each time a stamp is applied, thereby guaranteeing the clarity and consistency of the imprint across different batches and overcoming the pressure fluctuation problems caused by manual control or simple switch control.

[0027] 3. Achieved high integration of the device and good adaptability to the flight platform: The telescopic transmission mechanism is manufactured using carbon fiber composite materials, achieving extreme lightweighting while ensuring sufficient rigidity and strength, effectively controlling the UAV payload. The ranging, aerodynamic, and actuator mechanisms are highly integrated into the UAV platform, forming a dedicated operating system capable of independently completing the entire process of "positioning-ranging-triggering-execution," with a compact structure and convenient assembly and disassembly.

[0028] 4. Enhanced intelligence and ease of operation: The entire operation process is automated with a "one-click trigger." The operator only needs to control the drone to fly near the target and align it; subsequent precise approach, triggering, stamping, and resetting are all automatically completed by the system, reducing the skill requirements for operators and significantly improving operational efficiency and repeatability. The device is highly versatile; by changing the stamp head and adjusting the threshold, it can adapt to the marking needs of high-altitude equipment of various materials, shapes, and locations. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure of the present invention.

[0030] Figure 2 This is a schematic diagram of the pneumatic actuator system of the present invention.

[0031] Figure 3 This is a schematic diagram of the transmission mechanism and the stamp head of the present invention.

[0032] Figure 4 This is a schematic diagram of the adaptive connector of the present invention.

[0033] Explanation of reference numerals in the attached figures: 10. Drones; 20. Distance measurement trigger module; 30. Pneumatic actuator system; 31. Air source unit; 32. Pressure control unit; 33. Solenoid valve; 34. Pneumatic actuator; 341. Pneumatic rod movable end; 35. Air pump; 36. Air tank; 37. High-pressure wear-resistant air hose; 40. Transmission mechanism; 41. Outer sleeve; 42. Transmission rod; 421. First abutment ring; 43. Wear-resistant and anti-slip layer; 50. Stamp head; 51. Foam stamp; 52. Stamp connector; 60. Power supply unit; 70. Fixed bracket; 80. Adaptive connector; 81. Connecting rod; 811. Second abutment ring; 82. Universal ball joint; 83. Buffer spring. Detailed Implementation

[0034] The following is in conjunction with the appendix Figures 1-3 The present invention will be described in further detail below.

[0035] Example 1: A UAV-borne laser ranging triggered pneumatic stamp device is disclosed, with reference to... Figures 1 to 3 The device uses a multi-rotor industrial drone as the drone 10, but a quadcopter drone can actually be used. It has high-precision GPS, attitude adjustment and visual positioning hovering functions. The drone 10 is equipped with a ranging trigger module 20, a pneumatic execution system 30, a transmission mechanism 40, a stamp head 50 and a power supply unit 60. The ranging trigger module 20 is used to measure the distance between the device and the surface to be stamped in real time. The pneumatic execution system 30 drives the stamp head 50 through the transmission mechanism 40 to complete the stamping and marking operations of various high-altitude equipment in scenarios such as industrial production, municipal facility maintenance and power equipment inspection. The power supply unit 60 is used to supply power to the various electrical components in the device.

[0036] The ranging trigger module 20 uses a laser ranging sensor (such as a laser-infrared type), which is fixed to the front of the drone via an aluminum alloy miniature bracket. The bracket can be adjusted by ±30°, allowing the operator to adjust the ranging direction according to the angle of the plane to be stamped, ensuring that the ranging direction is perpendicular to the plane to be stamped. Specific parameters are as follows: 1. Core parameters: ranging accuracy ≤ ±1mm, ranging range 0-50cm, weight ≤ 50g, working voltage 12V, matching the drone battery voltage, standby power consumption ≤ 0.5W, low power consumption design reduces power consumption; 2. Trigger Function: The trigger distance threshold can be preset via a remote control device. The basic preset threshold of this invention is 10cm, and the threshold can be finely adjusted within the range of 5-20cm according to operational needs. The laser ranging module 20 measures the straight-line distance between the drone and the object being printed in real time and transmits the ranging data to the remote control device in real time for the operator to view. When the measured distance reaches the preset 10cm trigger threshold, a wireless trigger command is immediately sent to the remote control device. The command sending response time is ≤0.1s to ensure timely triggering. 3. Communication method: It connects with the remote control device via 2.4G wireless communication, with a communication distance of 50-100 meters. The communication distance is matched with that of the remote control solenoid valve 23 to ensure the stability of signal transmission, with no delay and no packet loss.

[0037] refer to Figure 2 The pneumatic actuator system 30 includes an air source unit 31, a pressure control unit 32, a solenoid valve 33, and a pneumatic actuator 34.

[0038] refer to Figure 2 The air source unit 31 includes an air pump 35 and an air tank 36. The air pump 35 is a miniature high-pressure air pump with a working pressure ≥150psi and a weight ≤300g, suitable for the payload and air pressure requirements of drones, and is used to fill the air tank 36. The air tank 36 is a lightweight aluminum alloy high-pressure air tank with a volume of 0.5-1L and a weight ≤200g, suitable for the payload capacity of drones. The function of the air tank 36 is to store compressed gas, avoiding the shortened lifespan and air pressure fluctuations caused by frequent start-stop of the air pump 35. At the same time, it can store enough compressed gas to complete 20-30 consecutive stamping operations, improving work efficiency. A safety valve 361 is installed on the top of the air tank 36. The pressure relief threshold of the safety valve 361 is 130psi. When the air pressure in the pipeline exceeds 130psi due to abnormal conditions, the safety valve 361 automatically opens to relieve pressure, preventing damage to the air tank 36, air pipes and other components due to overpressure, greatly improving the safety of the device.

[0039] refer to Figure 2The pressure control unit 32 includes a pressure sensor and a pressure switch electrically connected to the air source unit. The pressure switch is configured to: connect the air source unit when the pressure value detected by the pressure sensor is lower than a first preset value; and disconnect the air source unit when the pressure value is higher than a second preset value; wherein the first preset value is lower than the second preset value. In a specific implementation, the pressure control unit 32 can be an adjustable pressure relay, wherein the first preset value is 90 psi, the second preset value is 120 psi, and the air pressure threshold adjustment range is 80-150 psi. The pressure control unit 32 can also have a built-in overload protection module, which automatically cuts off power when the air pump 35 operates continuously for more than 5 minutes to prevent the air pump from overheating and being damaged, thus extending the service life of the equipment.

[0040] refer to Figure 2 The solenoid valve 33 is a waterproof and dustproof two-position two-way solenoid directional valve with a protection level ≥ IP65, suitable for complex outdoor high-altitude operating environments. Its operating voltage is 12V, matching the drone's battery voltage. It has a built-in low-power module with standby power consumption ≤1W, reducing power consumption. The solenoid valve's response time is ≤0.5 seconds, matching the trigger command response time of the ranging trigger module 20, ensuring timely stamping. It connects to the remote control device via 2.4G wireless communication, with a communication distance of 50-100 meters. It only receives valve opening and closing control commands from the remote control device and is normally closed, remaining closed during non-operational periods to prevent pipeline leakage. After the ranging trigger module 20 sends a trigger command, the remote control device automatically sends an opening command to it, eliminating the need for manual operation and achieving automatic triggering.

[0041] refer to Figure 2 The pneumatic actuator 34 uses a miniature pneumatic push rod with a stroke of 50-100mm, which is suitable for stamping distance requirements with a trigger distance of 10cm. The pneumatic actuator 34 has a built-in return spring. When the remote control solenoid valve 33 is closed, the return spring releases its elastic force, and the movable end 341 of the pneumatic rod automatically retracts and resets, without the need for additional return air power, which simplifies the device structure. The cylinder of the pneumatic actuator 34 is fixed to the underside of the fuselage of the UAV 10 with bolts to ensure the installation is firm.

[0042] refer to Figure 2The pneumatic actuator system 30 uses a high-pressure wear-resistant air hose 37, which is a polyurethane high-pressure flexible hose with an inner diameter of 4mm and an outer diameter of 6mm. It can withstand pressures of over 150psi and has wear-resistant and bending-resistant properties, adapting to slight shaking during drone flight. All connection points of the high-pressure wear-resistant air hose 37 are equipped with brass sealing joints, providing good sealing performance, preventing gas leakage, and ensuring stable air pressure in the pipeline. The high-pressure wear-resistant air hose 37 is fixed to the drone 10 and the lightweight aluminum alloy mounting bracket 70 by a pipe clamp. The mounting bracket 70 is fixed to the lower end of the drone 10 by bolts, with a weight of ≤100g. This prevents the air hose from shaking or tangling during flight, ensuring the structural stability of the device.

[0043] refer to Figure 3 The transmission mechanism 40 includes an outer sleeve 41 and a transmission rod 42, both made of high-strength carbon fiber prepreg. The outer diameter of the transmission rod 42 is precisely matched with the inner diameter of the outer sleeve 41, with a gap of ≤0.1mm, ensuring smooth sliding of the transmission rod 42 along the axis of the outer sleeve 41 without jamming. The inner wall of the outer sleeve 41 is provided with a polytetrafluoroethylene (PTFE) wear-resistant and anti-slip layer 43. The low coefficient of friction of PTFE reduces the sliding friction resistance between the transmission rod 42 and the outer sleeve 41, while preventing wear of the carbon fiber tube wall due to long-term sliding, thus extending the service life of the transmission mechanism. The wear-resistant and anti-slip layer 43 also provides a certain radial support for the transmission rod 42, preventing bending of the transmission rod 42 due to force when it extends, ensuring the accuracy of the stamping position. One end of the fixed bracket 70 is provided with a clamp that matches the outer sleeve 41, and a detachable connection is achieved with the outer sleeve 41 by bolts, facilitating the disassembly, maintenance, and replacement of the transmission mechanism 40. The transmission rod 42 is connected to the movable end 341 of the pneumatic rod via a flange. The flange is made of nylon, which is lightweight and high-strength. It is fixed to the movable end 341 of the pneumatic rod and the end of the transmission rod 42 with bolts to ensure the coaxiality of the transmission rod 42 and the pneumatic actuator 34. This prevents radial off-center load from occurring when the pneumatic actuator 34 moves, which could cause the transmission rod 42 to jam inside the outer sleeve 41. This ensures the stability of power transmission and the smoothness of extension and retraction.

[0044] refer to Figure 3The stamp head 50 includes a foam stamp 51 and a stamp connector 52, enabling quick replacement of the stamp text and flexible stamping, avoiding damage to the equipment surface. The foam stamp 51 is made of highly absorbent closed-cell foam material, which has strong oil absorption, allowing for 10-15 consecutive stamps with a single application of ink, improving work efficiency. The soft foam material makes flexible contact with the surface of the equipment at a height, ensuring clear printing even with slight hovering and shaking of the drone, without damaging the coating or structure of the equipment surface. It is compatible with equipment surfaces made of various materials such as metal, plastic, concrete, and fiberglass. The stamp text can be customized according to operational needs, including qualification stamps, inspection stamps, date stamps, and equipment number stamps. The seal connector 52 and the movable end 341 of the pneumatic rod adopt a T-shaped snap-fit ​​structure or a dovetail snap-fit ​​structure. Taking the T-shaped snap-fit ​​structure as an example, the structure is explained as follows: A T-shaped slot is provided at the end of the transmission rod 42 away from the movable end 341 of the pneumatic rod. A T-shaped locking block is formed on the seal connector 52 to fit the T-shaped slot. The T-shaped locking block can be directly snapped into the T-shaped slot to achieve quick fixation of the seal head 50. Disassembly can be done by simply pulling it out gently without the need for any tools. One person can complete the seal replacement, which is simple to operate. The matching structure of the slot and the locking block is firmly connected, and there will be no problem of the seal falling off or shifting during the stamping process, ensuring the stamping quality.

[0045] The power supply unit 60 is a battery compartment located on the drone 10. The battery compartment houses a high-capacity lithium battery with a voltage of 12V and a capacity of 10000mAh. The lithium battery is electrically connected to the drone 10, the ranging trigger module 20, the air pump 35, the pressure control unit 32, and the solenoid valve 33, providing a unified power supply for the entire device. This eliminates the need for an additional independent power supply and simplifies the device structure. The battery compartment is equipped with a charging interface and a main power switch for convenient charging and overall power control. The lithium battery has a flight time of ≥2 hours, which can meet the needs of long-term high-altitude stamping operations. The power supply lines are wrapped in corrugated pipes and fixed to the drone body to avoid exposed and worn lines and improve electrical safety.

[0046] Example 2: A method for creating an unmanned aerial vehicle (UAV) laser ranging-triggered pneumatic stamp based on the device described in Example 1 is disclosed. The specific steps are as follows: Step S100, Preparation and Takeoff: Step S101, Assembly: Fix the ranging trigger module 20 to the front end of the UAV 10 using an aluminum alloy miniature bracket, adjust the bracket angle so that the ranging direction is horizontal and forward, complete the wiring connection and test the ranging function; fix the pneumatic actuator 34, air pump 35 and air tank 36 to the underside of the UAV 10 in sequence, complete the pipeline connection through the high-pressure wear-resistant air pipe 37, connect the solenoid valve 33 in series in the venting branch of the air tank 36, electrically connect the pressure control unit 32 to the air pump 35, and test the sealing performance of the pneumatic components; The moving rod 42 is connected to the pneumatic rod movable end 341 of the pneumatic actuator 34 via a flange, and the smoothness of extension and retraction is tested. According to the stamping operation requirements of the high-altitude equipment, a foam stamp 51 with the corresponding stamp text is selected, and the T-shaped card block on the back of the foam stamp 51 is directly inserted into the T-shaped card slot at the end of the transmission rod 42 to complete the fixation of the stamp head 50. The stamp ink is evenly applied to the stamp surface of the foam stamp 51 to ensure clear stamp text. One application can meet the needs of multiple consecutive stampings. The power supply lines of all components are connected to complete the assembly of the entire device.

[0047] Step S102, Initialization and Debugging: Turn on the main power supply of the power supply unit 60, calibrate the ranging trigger module 20, set the trigger distance threshold to 10cm through the remote control device, and complete the 2.4G wireless communication pairing between the ranging trigger module 20 and the remote control device. Test the ranging data transmission and trigger command sending functions. The pressure sensor of the pressure control unit immediately begins to monitor the air pressure in the air tank 36 in real time. If the air pressure is lower than 90psi, the pressure control unit 32 automatically closes, the air pump 35 starts, and fills the pipeline and air tank 36 with air. When the air pressure reaches 120psi, the pressure control unit 32 automatically disconnects, and the air pump 35 stops filling. Through this automatic control, the air pressure in the pipeline and air tank 36 is always kept stable in the optimal working range of 90-120psi, providing stable power for subsequent stamping operations. Test the communication and command execution functions between the remote control device and the solenoid valve 33 to ensure that the valve opening and closing actions are normal.

[0048] In step S103, the operator controls the drone 10 to take off from the ground station and fly towards the target stamping area.

[0049] Step S200, Positioning and Approach: In step S201, the operator uses the real-time aerial footage from the flight platform 10 to identify the location of the equipment to be stamped at a high altitude, and controls the drone 10 to dock near the location to be stamped to achieve preliminary positioning.

[0050] In step S202, the operator controls the drone 10 to fly to the vicinity of the target location based on the real-time aerial footage of the drone 10, and adjusts the flight attitude, altitude and horizontal position of the drone 10 so that the laser transmitter / receiver of the ranging trigger module 20 is accurately aligned with the plane to be stamped on the object to be printed, so that the ranging direction is perpendicular to the plane to be stamped, and the ranging accuracy is guaranteed.

[0051] In step S203, the drone 10 is controlled to enter a high-precision hovering state with a hovering error of ≤5cm to maintain the stability of the drone 10. At this time, the ranging trigger module 20 enters the real-time ranging state and transmits the measured distance data between the drone 10 and the object to be printed to the display screen of the remote control device in real time. The operator can view the distance change in real time and provide a reference for subsequent approach operations.

[0052] Step S300, Triggering and Stamping: In step S301, the operator uses the drone remote controller to slowly and steadily move the hovering drone 10 toward the plane to be stamped, keeping the approach speed within 5cm / s to avoid sudden changes in spacing due to excessively fast approach, which could affect the triggering accuracy.

[0053] In step S302, when the distance measured by the ranging trigger module 20 reaches the preset 10cm trigger threshold, the ranging trigger module 20 immediately sends a wireless trigger command to the remote control device. After receiving the trigger command, the remote control device automatically sends an opening control command to the solenoid valve 33 without manual operation. The response time of the entire trigger-command transmission process is ≤0.1s.

[0054] In step S303, after receiving the valve opening command, the solenoid valve 33 completes the valve opening action within 0.5 seconds. The compressed gas in the gas tank 36 quickly enters the cylinder of the pneumatic actuator 34 through the high-pressure wear-resistant air pipe 37. The axial thrust generated by the high-pressure gas pushes the movable end 341 of the pneumatic rod to move forward along the axis, thereby driving the transmission rod 42 to slide outward inside the outer sleeve 41.

[0055] In step S304, after the transmission rod 42 extends to the end of its stroke, it pushes the printing surface of the foam stamp 51 into flexible contact with the surface of the equipment to be stamped at the height. This contact state is maintained for 1-2 seconds to allow the ink to be fully transferred to the surface of the equipment, completing one stamping operation. During this period, the drone 10 maintains a stable position thanks to its high-precision hovering function. The contact pressure between the foam stamp 51 and the surface of the equipment is determined by the pipeline air pressure. The air pressure threshold (90-120psi) can be finely adjusted by the pressure control unit 32 to adapt to different materials such as metal, plastic, and concrete, preventing damage to the surface coating or structure of the equipment.

[0056] Step S400, Reset: Step S401: After a single stamping operation is completed, the operator sends a valve closing control command through the operation panel of the remote control equipment. Upon receiving the valve closing command, the solenoid valve 33 immediately closes the valve and cuts off the supply of compressed gas.

[0057] In step S402, the return spring inside the pneumatic actuator 34 is compressed due to the forward movement of the pneumatic rod movable end 341. After the valve is closed, the return spring releases its elastic potential energy, generates a reverse elastic force, and pushes the pneumatic rod movable end 341 to move backward along the axis, thereby realizing the automatic reset of the pneumatic actuator 34. The reset time is ≤1s.

[0058] In step S403, as the pneumatic rod movable end 341 retracts, it drives the transmission rod 42 to retract into the outer sleeve 41. The foam stamp 51 then separates from the equipment surface and resets to its initial position, preventing the foam stamp 51 from colliding with equipment, buildings, cables, or other objects during the subsequent flight of the drone, thus protecting the stamp and the equipment. The ranging trigger module 20 resumes real-time ranging state and waits for the next trigger.

[0059] Step S500, continuous operation: In step S501, if there are multiple locations to be stamped on the high-altitude equipment, or if stamping operations are required on multiple high-altitude equipment, the operator controls the drone 10 to fly away from the current stamping plane and fly to the next stamping location using the drone remote controller. Steps S200-S400 are repeated to complete continuous high-altitude stamping operations. After each stamping is completed, the ranging trigger module 20 restores ranging in real time to ensure the accuracy of the next trigger.

[0060] In step S502, throughout the continuous operation, the pressure sensor of the pressure control unit 32 continuously monitors the air pressure in the pipeline and the air tank 36 in real time. Due to the release of air each time a stamp is applied, the air pressure in the pipeline will drop slightly. When the air pressure drops below 90 psi, the pressure control unit 32 automatically closes, and the air pump 35 immediately starts to inflate. When the air pressure rises back to 120 psi, the pressure control unit 32 automatically disconnects, and the air pump 35 stops inflating. Through this automatic air replenishment function, the air pressure in the pipeline is kept stable in the working range of 90-120 psi, ensuring stable power for each stamping, clear and neat printing, and no need for manual intervention to replenish air.

[0061] Step S600, Recycling: Step S601: After all the stamping operations on all the high-altitude equipment are completed, the operator remotely controls the drone 10 to return to home, fly to the designated landing area, and land smoothly.

[0062] Step S602: Turn off the main power supply of the power supply unit 60, disconnect the power supply line of the entire device, remove the foam stamp 51, loosen the bolts of the fixed bracket 70, remove the transmission mechanism 40; disconnect the connection of the high pressure wear-resistant air pipe 37, remove the components of the pneumatic actuator system 30; loosen the bolts of the aluminum alloy miniature bracket, and remove the ranging trigger module 20. Step S603: Clean and maintain each disassembled component: 1) Wipe the surface of the foam stamp 51 to remove residual ink, clean and dry before storing; 2) Clean the laser transmitter / receiver of the ranging trigger module 20 to remove dust and stains to ensure subsequent ranging accuracy; 3) Check the high-pressure wear-resistant air pipe 37 and brass sealing joint for wear and leakage, check the smooth extension and retraction of the pneumatic actuator 34, and check the transmission mechanism 40 for scratches and deformation; 4) Maintain and replace any worn or loose components. After cleaning, classify and store each component properly to prepare for the next operation.

[0063] This invention achieves precise triggering through laser ranging, stable power through closed-loop pressure control, and good integration with UAV platforms through a lightweight structure, forming a complete, reliable, and efficient high-altitude automated stamping solution with promising industrial application prospects.

[0064] Example 2: The difference between Example 3 and Example 1 is as follows: The UAV 10 has a built-in attitude perception module, which is a high-precision IMU (Inertial Measurement Unit) that can output pitch, roll and yaw data in real time.

[0065] The drone 10 is equipped with an image acquisition module, which is a 5-megapixel miniature global shutter camera. It is mounted at an angle of about 45 degrees to the side and rear of the stamp head 50 via a lightweight bracket, ensuring that its field of view can completely cover the area in front of the stamp head 50 that will be stamped and the area after the stamp.

[0066] An environmental perception module, which is an ultrasonic anemometer, is installed on the top of the UAV 10.

[0067] The UAV 10 contains only a controller, which can be a coprocessor for the UAV flight control system or a standalone embedded industrial control computer. The controller communicates with the ranging trigger module 20, the pneumatic actuator system 30, the attitude perception module, the image acquisition module, the environmental perception module, and the UAV flight control system via a CAN bus or serial port.

[0068] The controller contains a pre-stored control program, the core logic of which is as follows: 1. Basis for collaborative triggering logic and tolerance settings: The controller continuously reads the distance value d from the ranging trigger module 20 and the pitch angle θ and roll angle γ of the IMU, and sets the trigger distance threshold d0 to 10cm.

[0069] The attitude tolerance threshold α is set based on a clear physical basis: considering the fixed lateral installation deviation L (e.g., 15cm) between the mounting point of the ranging trigger module 20 and the center point of the stamp head 50, and the extension length S of the transmission mechanism 40. When the UAV has an attitude angle, the actual projection point of the stamp head will shift relative to the laser ranging point. To ensure stamping accuracy, this shift must be less than 1 / 5 of the stamp diameter. The maximum allowable attitude angle can be determined through geometric calculations. In this embodiment, considering common operating conditions, the attitude tolerance threshold α is set to 5°, that is, abs(θ) < 5° and abs(γ) < 5°.

[0070] When the conditions (d <= d0) && (abs(θ) < α) && (abs(γ) < α) are simultaneously met, the coordinated triggering condition is satisfied, and a high-level trigger signal is generated. Otherwise, if the distance condition is met but the attitude condition is not, the controller will send instructions to the UAV via flight control to fine-tune the attitude until the attitude stabilizes within the threshold. This logic ensures that the UAV is in a nearly horizontal and stable state at the moment of stamping, achieving essentially precise alignment.

[0071] 2. Adaptive dynamic parameter adjustment logic: After the collaborative triggering conditions are met and before the stamping action is executed, the controller reads the current wind speed v (from the environmental sensing module). The controller has preset basic pressure holding time T0 (e.g., 1.5 seconds) and basic working pressure P0 (e.g., 100 psi).

[0072] The control principle is to positively adjust the action parameters based on real-time environmental disturbance data to compensate for the impact of wind disturbance. That is, the greater the wind speed, the longer the set pressure holding time and the higher the working pressure, to ensure that the stamp can maintain stable contact with the surface for a sufficient period of time even under possible slight shaking.

[0073] Specifically, this can be achieved through a lookup table method or linear compensation. For example, a simple linear compensation formula can be used: T = T0 + k1 * v, P = P0 + k2 * v (where k1 and k2 are positive gain coefficients obtained through calibration tests). Based on the calculated T and P setpoints, the controller sends commands to the pressure regulating valve and solenoid valve timer of the pneumatic system.

[0074] 3. Visual verification and image processing logic: After the stamping action is completed, the controller directs the image acquisition module to capture a digital image of the imprint area. The image processing to evaluate the stamp quality includes the following specific steps: a) Image preprocessing: The acquired color image is converted to grayscale and then binarized to separate the imprinted area from the background.

[0075] b) Feature extraction: Perform contour extraction algorithms (such as using the findContours function in the OpenCV library) on the binarized image to obtain the actual contour of the imprint.

[0076] c) Quality Assessment: Compare the extracted actual contour with the standard stamp template contour pre-stored in the controller. Calculate key quality indicators, including: Outline completeness: (Actual outline pixel area / Standard template outline pixel area) * 100%. This indicator reflects whether the imprint is incomplete.

[0077] Average grayscale difference: Calculates the average grayscale value of the actual imprint area in the original grayscale image and compares it with the ideal grayscale value (representing moderate ink concentration). This indicator reflects the clarity of the imprint.

[0078] d) Intelligent Decision Making: Set acceptable thresholds for the above indicators (e.g., contour completeness > 90%, average grayscale difference within ±20). If all indicators are within the thresholds, the result is deemed "acceptable". If any indicator exceeds the threshold, the result is deemed "unacceptable".

[0079] e) Supplementary Chapter Decision: Based on the evaluation results, the controller initiates different processes: If the result is "qualified", the process is recorded as successful and proceeds to the next step.

[0080] If the result is "unqualified," the re-stamping process is initiated. The controller can adjust parameters (such as slightly increasing the stamping pressure P and re-triggering) based on the specific indicators of the unqualified result (such as low outline completeness but normal grayscale). If the misalignment is severe (extremely low outline completeness), the coordinates of the abnormal position are recorded and an alarm is issued.

[0081] A control method for the device based on Embodiment 3 includes the following steps: Step S10: The operator controls the drone 10 to fly closer to the target area. Through the image transmission screen, the operator roughly aligns the stamp head 50 and the image acquisition module with the target surface.

[0082] Step S20: UAV 10 enters automatic precision alignment mode. It slowly approaches the target, and the controller calculates the distance d and attitude angles θ and γ in real time. When d = 12cm, due to crosswind, γ = 8°, which is greater than the 5° threshold. The controller does not trigger the stamping, but instead issues a command through the flight control system to make the UAV roll slightly to the left. When the adjustment reaches γ = 4°, d = 10cm, and θ = 2°, all the cooperative triggering conditions are met.

[0083] Step S30: The controller reads the current wind speed v = 8 m / s. According to the preset rules (k1 = 0.1, k2 = 0.5), the pressure holding time T = 1.5 + 0.1 * 8 = 2.3 seconds and the pressure P = 100 + 0.5 * 8 = 104 psi are calculated. Subsequently, the controller triggers the solenoid valve with pressure P, the pneumatic mechanism actuates, pushing the stamp head 50 to contact the target surface and holding the imprint for 2.3 seconds.

[0084] Step S40: After stamping, the drone remains hovering. The controller then controls the image acquisition module to capture a photograph of the stamp.

[0085] Step S41 (Image Processing): The controller performs grayscale conversion, binarization, and contour extraction on the photo. Analysis revealed that the extracted contour completeness was 92% (acceptable), but the average grayscale value of the imprinted area was 15 units lower than the ideal value (on the threshold edge).

[0086] Step S42 (Decision): The quality assessment is "slightly unclear". The controller decides to initiate the re-stamping process. The stamping pressure is automatically increased to 108 psi, the holding time is adjusted to 2.5 seconds, and the stamping is triggered again (i.e., repeat step S30, but with new parameters).

[0087] Step S43 (Secondary Verification): Take another picture and process the image. This time, the average gray value of the imprint meets the standard and is evaluated as "qualified".

[0088] Step S50: The controller records that the operation at this point is successful, and the operator controls the drone 10 to fly to the next numbered location, repeating the S20-S50 process.

[0089] In other embodiments, to better align the stamp head 50 with the target surface, an adaptive connector 80 is provided between the transmission rod 42 of the transmission mechanism 40 and the stamp connector 52 of the stamp head 50, as shown in the reference. Figure 4 The adaptive connector 80 includes a connecting rod 81, a universal ball joint 82, and a buffer spring 83. One end of the connecting rod 81 is telescopically mounted on the transmission rod 42, and the other end is connected to the stamp connector 52 via the universal ball joint 82. A first abutment ring 421 is formed on the transmission rod 42, and a second abutment ring 811 is formed on the connecting rod 81. The buffer spring 83 is sleeved on the connecting rod 81, with one end abutting against the first abutment ring 421 and the other end abutting against the second abutment ring 811. When the stamp head 50 contacts an uneven surface, it can adaptively deflect under the action of the universal ball joint 82 to make the stamp surface fit. At the same time, the buffer spring 83 is compressed to absorb impact energy and protect the UAV body.

[0090] It can not only achieve contactless stamping at high altitudes, but also ensure the accuracy of stamping alignment through the coordinated control of flight attitude and distance measurement information. It can also achieve closed-loop verification and adaptive compensation of operation quality through machine vision, thereby comprehensively improving the accuracy, reliability and intelligence of high-altitude stamping operations.

[0091] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent transformations or substitutions that can be easily conceived by those skilled in the art within the technical principles disclosed in the present invention, such as using a ToF camera instead of a laser ranging sensor for ranging, using other filtering algorithms to process attitude data, or using different image features (such as skeleton extraction and texture analysis) for quality assessment, should all be included within the scope of protection of the present invention.

[0092] The above are all preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, all equivalent changes made in accordance with the structure, shape and principle of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A UAV-borne laser ranging triggered pneumatic stamp device, characterized in that: include: Unmanned aerial vehicles (10); The ranging trigger module (20) is installed on the UAV (10) and is used to measure the distance between the device and the surface to be stamped in real time, and generate a trigger signal when the distance is equal to a preset trigger threshold. A pneumatic actuator (30) is installed on the UAV (10) and includes an air source unit (31), a pressure control unit (32), a solenoid valve (33), and a pneumatic actuator (34). The pressure control unit (32) is used to maintain the outlet pressure of the air source unit (31) within a preset working range. The solenoid valve (33) is opened in response to the trigger signal to guide the gas from the air source unit (31) to the pneumatic actuator (34) and drive it to output linear motion. A transmission mechanism (40) is installed on the UAV (10) and has a transmission rod (42) connected to the output end of the pneumatic actuator (34). The stamp head (50) is connected to the end of the transmission rod (42) away from the pneumatic actuator (34); And a power supply unit (60) for supplying power to each electrical component in the device.

2. The UAV-borne laser ranging triggered pneumatic stamp device according to claim 1, characterized in that: The ranging trigger module (20) is a laser ranging sensor, and the preset trigger threshold is 5cm to 20cm.

3. The UAV-borne laser ranging triggered pneumatic stamp device according to claim 2, characterized in that: The pressure control unit (32) includes a pressure sensor and a pressure switch electrically connected to the gas source unit (31). The pressure switch is configured to: connect the gas source unit (31) when the pressure value detected by the pressure sensor is lower than a first preset value; and disconnect the gas source unit (31) when the pressure value is higher than a second preset value; wherein the first preset value is less than the second preset value.

4. The UAV-borne laser ranging triggered pneumatic stamp device according to claim 3, characterized in that: The air source unit (31) includes an air pump (35) and an air tank (36). The air pump (35) is used to charge the air tank (36). The pressure control unit (32) is connected to the air tank (36). The solenoid valve (33) is located on the pipeline connecting the air tank (36) and the pneumatic actuator (34).

5. The UAV-borne laser ranging triggered pneumatic stamp device according to claim 1, characterized in that: The transmission mechanism (40) also includes an outer tube (41), the transmission rod (42) is telescopically disposed on the outer tube (41), the outer tube (41) is connected to the drone (10), the transmission rod (42) and the outer tube (41) are made of carbon fiber composite material, and the inner wall of the outer tube (41) is provided with a low friction material layer.

6. The UAV-borne laser ranging triggered pneumatic stamp device according to claim 1, characterized in that: The stamp head (50) is connected to the transmission rod (42) via a quick-release structure, and the stamp head (50) is made of a flexible porous material.

7. The UAV-borne laser ranging triggered pneumatic stamp device according to claim 5, characterized in that: The pneumatic actuator (34) is a single-acting cylinder, and its interior is provided with a reset element to reset the output terminal.

8. A method for creating an UAV-borne laser ranging-triggered pneumatic stamp, based on the device described in any one of claims 1 to 7, characterized in that: Includes the following steps: Step S100, Preparation and Takeoff: Install the device on the drone (10) and complete the self-test, then control the drone (10) to fly towards the target stamping area; Step S200, Positioning and Approach: Control the drone (10) to hover near the target location and adjust its attitude so that the ranging trigger module (20) is aligned with the surface to be stamped; Step S300, triggering and stamping: The drone (10) is slowly moved closer to the surface to be stamped. When the distance measured by the ranging trigger module (20) reaches the preset trigger threshold, the trigger signal is automatically generated. The solenoid valve (33) opens in response to the trigger signal, causing the pneumatic actuator (34) to push the transmission rod (42) to extend, thereby causing the stamp head (50) to contact the surface to be stamped to complete the stamping. Step S400, Reset: After stamping is completed, control the solenoid valve (33) to close, and the pneumatic actuator (34) drives the transmission rod (42) and the stamp head (50) to retract under the action of the reset component; Step S500, continuous operation: Repeat steps S200 to S400 to stamp the next target location; During this process, the pressure control unit (32) continues to operate to maintain the output pressure of the gas source unit (31) within the preset operating range.

9. A method for creating an UAV-borne laser ranging-triggered pneumatic stamp according to claim 8, characterized in that: In step S300, the stamp head (50) remains in contact with the surface to be stamped for 0.5 to 3 seconds.

10. A method for creating an UAV-borne laser ranging-triggered pneumatic stamp according to claim 8, characterized in that: The preset trigger threshold is 10cm, and the preset working range is 90psi to 120psi.

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