A method and system for monitoring and reminding supply of a UAV spray material

Abstract

The application relates to a method and system for monitoring and reminding of the dosage of a UAV (unmanned aerial vehicle) spraying material, and relates to the technical field of UAV spraying. The method comprises the following steps: collecting initial detection parameters and operation parameters; obtaining total output material quantity and residual operation parameters according to the operation parameters; obtaining a reference storage parameter based on the total output material quantity and a material specification; comparing the initial detection parameters with the reference storage parameter to obtain a deviation detection parameter; collecting a side wall pressure value and a side wall adhesion position; obtaining a side wall adhesion volume through the side wall pressure value and the deviation detection parameter; obtaining adhesion removal parameters according to the side wall adhesion volume and the side wall adhesion position, and re-collecting the initial detection parameters; obtaining a residual quantity by combining the initial detection parameters and the material specification; calling the reference residual quantity from the residual operation parameters, and comparing the residual quantity with the reference residual quantity to output a supply prompt information. The application has the effect of improving the accuracy of the dosage monitoring and supply reminding of the UAV spraying material.

Description

Technical Field

[0001] This invention relates to the technical field of drone inkjet printing, and in particular to a method and system for monitoring and reminding drone inkjet printing material usage. Background Technology

[0002] Drone painting is a new type of painting / creation method that integrates drone technology, inkjet technology and intelligent control.

[0003] By using drones to carry inkjet printing material containers, high-altitude, large-area, and complex surface inkjet printing operations can be achieved, with wide applications in architectural decoration, industrial coating, advertising and marketing, and artistic creation. During drone inkjet printing operations, the amount of inkjet printing material used directly determines the continuity of the operation, the printing quality, and the efficiency of the operation. Typically, a single parameter detected by a liquid level or pressure sensor installed in the inkjet printing material container is used to calculate the remaining volume of inkjet printing material in the container.

[0004] During drone-based inkjet printing operations, the monitoring of inkjet material containers is limited in scope, and material may adhere to the side walls of the containers during the printing process, leading to biased monitoring results and inaccurate replenishment reminders. Summary of the Invention

[0005] To improve the accuracy of monitoring and replenishment reminders for drone printing material usage, this invention provides a method and system for monitoring and replenishing drone printing material usage.

[0006] In a first aspect, the present invention provides a method for monitoring and reminding users of drone painting material usage, employing the following technical solution: A method for monitoring and replenishing drone-generated inkjet printing material usage includes: S10: In response to the material usage monitoring command, collect the initial pressure parameters, initial liquid level parameters, and operation parameters in the inkjet material container, and define the initial pressure parameters and initial liquid level parameters as initial detection parameters; S11: Obtain the total output material quantity and remaining operation parameters based on the operation parameters; S12: Obtain baseline storage parameters based on the total output material quantity and preset material specifications; S13: Obtain the deviation detection parameters by comparing the consistency between the initial detection parameters and the baseline stored parameters; S14: Collect sidewall pressure values ​​and sidewall adhesion locations; S15: Obtain the sidewall adhesion volume by using the sidewall pressure value and deviation detection parameters; S16: Obtain adhesion removal parameters based on the sidewall adhesion volume and sidewall adhesion location, and use the adhesion removal parameters to control the operation of the UAV and re-collect the initial detection parameters; S17: The remaining amount is obtained by combining the initial test parameters and material specifications; S18: Retrieve the baseline remaining quantity from the remaining operation parameters, and compare the remaining quantity with the baseline remaining quantity to output a replenishment prompt message.

[0007] By adopting the above technical solution, the adhesion removal parameters are obtained by analyzing the initial pressure parameters, initial liquid level parameters, operating parameters, sidewall pressure values, and sidewall adhesion locations. Based on the adhesion removal parameters, the remaining amount is obtained. Finally, the excess amount is compared with the baseline remaining amount to output replenishment prompt information. This can accurately identify whether there is a measurement deviation caused by sidewall adhesion on the container sidewall, and control the drone to operate with the adhesion removal parameters to clean the material adhering to the sidewall, so as to accurately obtain the amount of material in the container, thereby improving the accuracy of drone spraying material usage monitoring and replenishment reminders.

[0008] Optionally, methods for obtaining adhesion removal parameters include: S20: The adhesion distance is obtained based on the initial liquid level parameters and the adhesion position on the sidewall; S21: The inertial force is tested based on the adhesion distance, preset material specifications, and preset coverage height; S22: Obtain the operating parameters of the UAV by checking the inertial force; S23: Control the operation of the drone using operating parameters and update the initial detection parameters with a preset inspection duration; S24: Obtain the change detection parameters based on the initial detection parameters before and after the update; S25: The sidewall adhesion volume is obtained by combining the change detection parameters, sidewall pressure value and deviation detection parameters.

[0009] By adopting the above technical solution, the adhesion distance is calculated based on the initial liquid level parameters and the sidewall adhesion position. The test inertial force is obtained by combining the material specifications and the coverage height. Then, the tentative operating parameters of the UAV are generated to accurately calculate the sidewall adhesion volume, thereby reducing the error caused by directly relying on a single sensor to estimate the adhesion amount and improving the accuracy of the sidewall adhesion volume assessment.

[0010] Optionally, methods for obtaining adhesion removal parameters include: S30: The material excess distance is obtained based on the side wall adhesion position and the preset tank height; S31: The inertial force strength is obtained based on the sidewall adhesion volume and material specifications; S32: The total splash distance is obtained by combining the material overshoot distance and the adhesion distance; S33: Actual operating parameters are obtained based on total splash distance, material specifications, and inertial force intensity; S34: The scouring gravity is obtained through actual operating parameters, material specifications, and sidewall adhesion volume; S35: The scouring frequency is obtained by comparing the inertial force intensity with the scouring gravity. S36: Flight direction is obtained based on the sidewall adhesion location; S37: Adhesion removal parameters are formed by combining flight direction, actual operating parameters, and scouring frequency.

[0011] By adopting the above technical solution, the actual operating parameters are determined based on the sidewall adhesion location, the height inside the tank, the sidewall adhesion volume, and the total splash distance. Then, the scouring gravity is calculated by combining the material specifications and the sidewall adhesion volume. The scouring frequency is obtained by comparing the inertial force intensity with the scouring gravity, and the flight direction is determined based on the sidewall adhesion location. Finally, the adhesion removal parameters are integrated to adaptively determine the acceleration, duration, and number of repetitions that the UAV needs to perform, so as to effectively remove the sidewall adhesion material and improve the targeting and efficiency of the scouring strategy.

[0012] Optionally, methods for obtaining actual operating parameters include: S40: Calculate the sum of the adhesion distance and the preset coverage height as the total coverage distance; S41: The allowable variation distance is obtained based on the total coverage distance and the total splash distance; S42: Obtain the allowable acceleration and allowable time based on the allowable change distance and the strength of the inertial force; S43: Simulate the splash mass using permissible acceleration, permissible time, and material specifications; S44: Select the allowable acceleration and allowable time corresponding to the largest splash mass as the target acceleration and target time, and use the target acceleration and target time as the actual operating parameters.

[0013] By adopting the above technical solution, the allowable variation distance is obtained by considering the adhesion distance, coverage height, and total splash distance. Then, based on the allowable variation distance and inertial force intensity, multiple sets of candidate allowable acceleration and allowable time are obtained. By simulating the splash mass under each set of parameters, the allowable acceleration and allowable time that maximize the splash mass are selected as the actual operating parameters. This allows for maximizing the mass of liquid participating in the flushing while meeting the splash height requirements, enhancing the synergistic flushing effect of inertial force and gravity, and improving the removal capacity of a single flush.

[0014] Optional methods for obtaining information before gravity washout include: S50: Collects real-time flight parameters of the drone; S51: Maximum acceleration is obtained based on real-time flight parameters; S52: Compare the target acceleration with the maximum acceleration to continue outputting the target acceleration, or use the maximum acceleration to execute S43 and S44 to obtain new actual operating parameters; S53: Update the flushing gravity based on the new actual operating parameters.

[0015] By adopting the above technical solution, the maximum acceleration is obtained by analyzing real-time flight parameters; the target acceleration is compared with the maximum acceleration. If the target acceleration does not exceed the maximum acceleration, it is used directly; otherwise, the maximum acceleration is used to obtain new actual operating parameters and update the scouring gravity, so that the scouring effect can still be guaranteed when the performance of the UAV is limited.

[0016] Optionally, methods prior to forming adhesion removal parameters include: S60: The actual inertial mass is obtained based on the updated scouring gravity; S61: The descent scouring force is obtained by combining the actual inertial mass and the maximum acceleration; S62: The actual descent force is obtained based on the descent scouring force and the updated scouring gravity; S63: Compare the actual descent force with the inertial force strength to determine the maximum acceleration as the descent acceleration and combine it with the flight direction and actual operating parameters to form adhesion removal parameters, or update the scouring frequency by comparing the actual descent force with the inertial force strength. S64: Adhesion removal parameters are generated based on the updated flushing frequency, flight direction, actual operating parameters, and descent acceleration.

[0017] By adopting the above technical solution, the actual descent force is obtained based on the updated flushing gravity, maximum acceleration, and flushing gravity. The actual descent force is compared with the inertial force intensity to form adhesion removal parameters, thereby adaptively determining whether multiple flushing cycles are needed to ensure effective material removal under various adhesion levels.

[0018] Optional, also includes: S70: The amount of adhesion is obtained based on the adhesion removal parameters, preset material specifications, and preset loading specifications; S71: Obtain adhesion detection parameters through adhesion amount; S72: Combine the adhesion detection parameters with the baseline stored parameters to obtain the complete detection parameters; S73: Update the initial detection parameters with adhesion removal parameters; S74: When the updated initial detection parameters are consistent with the completed detection parameters, stop outputting adhesion removal parameters and continue executing the remaining operation parameters.

[0019] By adopting the above technical solution, the completed detection parameters are obtained based on the adhesion removal parameters, material specifications, loading specifications and benchmark storage parameters. When the updated measured parameters are consistent with the completed detection parameters, the output of adhesion removal parameters is stopped and the remaining work continues, thereby reducing the occurrence of blind repeated flushing or premature stopping, and improving the reliability and work efficiency of the self-cleaning process.

[0020] Optional, also includes: S80: The adhesion height is obtained by combining the adhesion amount and adhesion removal parameters; S81: Rotational force is obtained through attachment height and loading specifications; S82: The rotation speed is obtained based on the rotational force and the completed material parameters; S83: Collect the rotating sidewall pressure value of the adhesion area; S84: Update the remaining amount based on the rotating sidewall pressure value and rotation speed.

[0021] By adopting the above technical solution, the rotation speed is determined based on the amount of adhesion, adhesion removal parameters, loading specifications, and completed material parameters. Then, the rotational sidewall pressure value corresponding to the adhesion area is collected. Finally, the remaining amount is updated based on the rotational sidewall pressure value and rotation speed. Centrifugal force is used to cover the volume of material residue on the sidewall due to splashing, and the total volume is calculated by back-calculating the sidewall pressure distribution during rotation, thus achieving accurate measurement of the total material in the container and reducing the time spent waiting for splashed residue to flow down.

[0022] Optionally, methods for updating the remaining amount include: S90: The actual sidewall area used to collect the rotational sidewall pressure value; S91: The liquid surface thickness is obtained based on the rotation speed and the pressure value of the rotating side wall; S92: Calculate the new remaining amount based on the differential of the liquid surface thickness and the actual sidewall area.

[0023] By adopting the above technical solution, a new residual amount can be calculated using the actual sidewall area, rotation speed, and rotation sidewall pressure value, thereby improving the accuracy of residual amount analysis.

[0024] Secondly, this application provides a drone-based inkjet printing material consumption monitoring and replenishment reminder system, which adopts the following technical solution: A drone-based inkjet printing material usage monitoring and replenishment reminder system includes: The acquisition module is used to acquire initial pressure parameters, initial liquid level parameters, operating parameters, sidewall pressure values, and sidewall adhesion locations. A memory for storing a program for monitoring and reminding users of the amount of spray painting materials used by drones; The processor is used to load and execute programs stored in memory.

[0025] In summary, this application includes at least one of the following beneficial technical effects: 1. Adhesion removal parameters are obtained by analyzing initial pressure parameters, initial liquid level parameters, operating parameters, sidewall pressure values, and sidewall adhesion locations. The remaining amount is then calculated based on these parameters. Finally, the excess amount is compared with the baseline remaining amount to output replenishment prompts. This allows for accurate identification of measurement deviations caused by sidewall adhesion on the container sidewall. The drone is then controlled to operate according to the adhesion removal parameters to clean the material adhering to the sidewall, thus accurately obtaining the amount of material inside the container and improving the accuracy of drone-based inkjet printing material usage monitoring and replenishment reminders. 2. Based on the sidewall adhesion location, the height inside the tank, the sidewall adhesion volume, and the total splash distance, the actual operating parameters are determined. Then, the flushing gravity is calculated by combining the material specifications and the sidewall adhesion volume. The flushing frequency is obtained by comparing the inertial force intensity with the flushing gravity. The flight direction is determined based on the sidewall adhesion location. Finally, the adhesion removal parameters are integrated to adaptively determine the acceleration, duration, and number of repetitions that the UAV needs to perform in order to effectively remove the sidewall adhesion material and improve the targeting and efficiency of the flushing strategy. 3. Determine the rotation speed based on the amount of material adhering to the adhesion removal parameters, loading specifications, and completed material parameters. Then, collect the rotational sidewall pressure value corresponding to the adhesion area. Finally, update the remaining amount based on the rotational sidewall pressure value and rotation speed. Centrifugal force is used to cover the volume of material remaining on the sidewall due to splashing, and the total volume is calculated by back-calculating the sidewall pressure distribution during rotation. This achieves accurate measurement of the total material in the container, reducing the time spent waiting for splashed material to flow downstream. Attached Figure Description

[0026] Figure 1 This is a flowchart of a method for monitoring and reminding users of the amount of printing materials used by drones, according to an embodiment of the present invention. Detailed Implementation

[0027] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments.

[0028] Reference Figure 1 This application discloses a method for monitoring and replenishing drone painting material usage, comprising the following steps: S10: In response to the material usage monitoring command, collect the initial pressure parameters, initial liquid level parameters, and operation parameters in the inkjet material container, and define the initial pressure parameters and initial liquid level parameters as initial detection parameters.

[0029] The material usage monitoring command is a control signal set by technicians to initiate the material usage monitoring and replenishment reminder process. The system sends the material usage monitoring command to the drone to execute the material usage monitoring and replenishment reminder process.

[0030] The initial pressure parameter refers to the pressure value at the bottom of the inkjet material container containing the material. The pressure value collected by the pressure sensor at the bottom of the inkjet material container is used as the initial pressure parameter.

[0031] The initial liquid level parameter refers to the liquid level value of the remaining material inside the inkjet material container. The liquid level value detected by the liquid level gauge preset in the inkjet material container is used as the initial liquid level parameter.

[0032] Initial detection parameters refer to the data set consisting of initial pressure parameters and initial liquid level parameters, which are combined to form the initial detection parameters.

[0033] Operation parameters refer to the set of data used to describe the inkjet printing operation currently being performed by the drone, including unit inkjet volume, inkjet printing duration, etc. The unit inkjet volume and inkjet printing duration currently being performed by the drone are retrieved from the system as operation parameters.

[0034] S11: Obtain the total output material and remaining operation parameters based on the operation parameters.

[0035] The total output material refers to the total volume of material output during the current printing operation performed by the drone. It is calculated by multiplying the unit printing volume by the printing time.

[0036] The remaining operation parameters refer to the data set of the drone that still needs to perform printing operations. The remaining operation parameters are obtained by retrieving the total task that the drone needs to perform from the system and removing the operation parameters from the total task.

[0037] S12: Obtain the baseline storage parameters based on the total output material quantity and the preset material specifications.

[0038] The material specifications refer to the density, yield stress, viscosity, and other properties of the material currently stored in the inkjet printing material container, as set by the technicians. In this embodiment, the initial liquid level parameter in S10 can also be obtained by converting the pressure value detected by the pressure sensor with the material specifications.

[0039] The baseline storage parameters refer to the theoretical pressure and corresponding liquid level at the bottom of the container when there is no sidewall adhesion and the material is uniformly distributed, with remaining material in the container. This is achieved by retrieving the total volume of the container filled with material from the system, calculating the difference between the total volume and the total output material volume as the remaining material volume, and then calculating the theoretical pressure and corresponding liquid level based on the remaining material volume, the cross-sectional area of ​​the container retrieved from the system, and the material specifications. These theoretical pressure and corresponding liquid level values ​​are then used as the baseline storage parameters.

[0040] S13: Obtain the deviation detection parameters by comparing the consistency between the initial detection parameters and the baseline stored parameters.

[0041] Deviation detection parameters refer to the set of deviation data between the initial detection parameters and the reference stored parameters. By analyzing the consistency between the initial detection parameters and the reference stored parameters, when the initial detection parameters are consistent with the reference stored parameters, it indicates that there is no material adhesion on the inner wall of the inkjet material container. Then, refer to S12 to determine the remaining material amount for subsequent replenishment reminders.

[0042] When the initial detection parameters are inconsistent with the baseline stored parameters, it indicates that material is adhering to the inner wall of the inkjet material container. The difference between the corresponding data between the initial detection parameters and the baseline stored parameters is then calculated and integrated to form the deviation detection parameters.

[0043] S14: Collect sidewall pressure values ​​and sidewall adhesion locations.

[0044] The sidewall pressure value refers to the pressure value experienced when material adheres to the sidewall of the inkjet material container. The pressure value is obtained by using a pressure sensor pre-installed on the sidewall of the inkjet material container.

[0045] The sidewall adhesion position refers to the location where the sidewall pressure value appears on the sidewall of the inkjet material container. The sidewall adhesion position is determined by retrieving the location where the sidewall pressure value appears from the location where the pressure sensor on the sidewall of the inkjet material container is installed.

[0046] In this embodiment, the adhesion location on the sidewall is not within the area covered by the liquid, indicating that the material adhering to the sidewall of the container is not within the area contained by the liquid.

[0047] S15: Obtain the sidewall adhesion volume by using the sidewall pressure value and deviation detection parameters.

[0048] The sidewall adhesion volume refers to the volume of high-viscosity material adhering to the inner sidewall of the container. The total deviation volume is calculated by using deviation detection parameters, and then the sidewall adhesion volume is matched with the sidewall pressure value from a preset adhesion reference table.

[0049] The adhesion reference table stores the sidewall adhesion volume corresponding to different total deviation volumes and sidewall pressure values. With the total deviation volume remaining constant, the larger the sidewall pressure value, the larger the sidewall adhesion volume. The parameters in the adhesion reference table are set in advance by those skilled in the art based on actual conditions.

[0050] S16: Obtain adhesion removal parameters based on the sidewall adhesion volume and sidewall adhesion location, and use the adhesion removal parameters to control the operation of the UAV and re-collect the initial detection parameters.

[0051] Adhesion removal parameters refer to the set of instructions used to control the drone to drive the material inside the container to flush away the material adhering to the sidewall. Adhesion removal parameters are obtained by analyzing the volume and location of the sidewall adhesion. The analysis method of adhesion removal parameters is described below. Then, the drone is controlled to run with the adhesion removal parameters and S10 is re-executed to collect the initial detection parameters.

[0052] S17: The remaining amount is obtained by combining the initial test parameters and material specifications.

[0053] The remaining amount refers to the actual usable free material volume inside the container. The actual material volume inside the container is calculated using initial detection parameters and material specifications, and this remaining amount is taken as the remaining amount. In this embodiment, when the initial detection parameters are consistent with the baseline storage parameters, it indicates that no material adheres to the inner wall of the inkjet material container; therefore, the total remaining material in S12 is taken as the remaining amount.

[0054] S18: Retrieve the baseline remaining quantity from the remaining operation parameters, and compare the remaining quantity with the baseline remaining quantity to output a replenishment prompt message.

[0055] The baseline remaining quantity refers to the amount of material that the drone still needs to print. Referring to S11, the baseline remaining quantity is calculated by retrieving the total amount of material to be printed from the total task and calculating the difference between the total amount of material and the total amount of output material.

[0056] The replenishment prompt message is set by technicians to alert the drone when it needs to replenish printing materials. By analyzing whether the remaining amount exceeds the baseline remaining amount, if the remaining amount does not exceed the baseline remaining amount, it means that there is enough printing material in the container to complete the remaining tasks. In this case, the drone is controlled to continue operating according to the remaining task parameters.

[0057] When the remaining amount exceeds the baseline remaining amount, it indicates that the inkjet material in the container is insufficient to complete the remaining tasks. In this case, a replenishment prompt message is output to control the drone to replenish the inkjet material.

[0058] Methods prior to obtaining adhesion removal parameters include: S20: The adhesion distance is obtained based on the initial liquid level parameters and the adhesion position on the sidewall.

[0059] The adhesion distance refers to the distance from the current free liquid surface to the upper boundary of the adhesion area on the sidewall. It is calculated by extracting the highest height of the adhesion area from the sidewall adhesion position and calculating the difference between the highest height and the liquid surface height of the initial liquid level parameter as the adhesion distance.

[0060] S21: The test inertial force is obtained based on the adhesion distance, the preset material specifications, and the preset coverage height (the material that is just covered by the material adhered to the side wall due to the upward inertia).

[0061] The coverage height is the height distance beyond which the splashed liquid, set by the technician, is required to effectively cover and impact the material adhering to the sidewalls as it descends.

[0062] The test inertial force refers to the inertial force generated by the UAV to further test the volume of the sidewall adhesive material. The total test height is obtained by calculating the sum of the adhesion distance and the coverage height. The test inertial force is then matched from a preset test comparison table based on the total height and the material specifications.

[0063] The inspection comparison table stores the inspection inertial force corresponding to different total heights and material specifications. With the material specifications unchanged, the greater the total height, the greater the inspection inertial force. The parameters in the inspection comparison table are set in advance by those skilled in the art based on actual conditions.

[0064] S22: Obtain the operating parameters of the UAV by testing the inertial force.

[0065] Operational parameters refer to the control commands required for the UAV to execute a single test flush. These parameters are determined by matching the inertial force against a pre-set operational lookup table. Operational parameters include acceleration and its duration.

[0066] The operation reference table stores the operation parameters corresponding to different test inertial forces. The larger the test inertial force, the larger the operation parameters. The parameters in the operation reference table are set in advance by those skilled in the art based on actual conditions.

[0067] S23: Control the operation of the drone using operating parameters and update the initial detection parameters with a preset inspection duration.

[0068] The inspection duration is the time set by the technicians to wait for the liquid on the sidewall to slide down after the initial exploratory flush.

[0069] The drone's operation is controlled by the operating parameters, and a timer is started after the operation is completed. When the timer result matches the inspection duration, the initial detection parameters are collected again.

[0070] S24: Obtain the change detection parameters based on the initial detection parameters before and after the update.

[0071] The change detection parameter refers to the amount of change in the initial detection parameter before and after the trial flush. The change detection parameter is calculated by the difference between the corresponding data of the initial detection parameter before and after the update.

[0072] S25: The sidewall adhesion volume is obtained by combining the change detection parameters, sidewall pressure value and deviation detection parameters.

[0073] Referring to S15, the sidewall adhesion volume is matched from the adhesion comparison table by changing the detection parameters, sidewall pressure value and deviation detection parameters. The larger the change in detection parameters, the smaller the residual ability of the sidewall-adhered material to the splashed material, and therefore the smaller its sidewall adhesion volume.

[0074] Methods for obtaining adhesion removal parameters include: S30: The material excess distance is obtained based on the side wall adhesion position and the preset tank height.

[0075] The internal height of the can is the internal height of the inkjet material container set by the technicians.

[0076] Material overrun distance refers to the straight-line distance from the sidewall adhesion point to the top of the container. It is calculated by dividing the distance between the sidewall adhesion point and the height inside the container, and the resulting distance value is taken as the material overrun distance.

[0077] S31: The inertial force strength is obtained based on the sidewall adhesion volume and material specifications.

[0078] Inertial force intensity refers to the equivalent inertial force that a drone needs to apply in order to effectively remove the sidewall adhesive material. It is calculated by retrieving the sidewall adhesive volume and the sidewall adhesive positions, forming a range of each sidewall adhesive position, calculating the area of ​​the range, and using the area, sidewall adhesive volume, and material specifications.

[0079] Inertial force strength = yield stress in material specifications × area + volume of sidewall adhesion × density in material specifications × gravitational acceleration × coefficient of friction between adhesion material and wall surface. The coefficient of friction is obtained by technicians through prior experiments using the material.

[0080] S32: The total splash distance is obtained by combining the material over-distance and the adhesion distance.

[0081] Total splash distance refers to the total vertical height that liquid needs to be thrown up by gravity backflush. It is calculated as the sum of the material overflow distance and the adhesion distance (equivalent to the distance between the liquid surface and the top of the container interior).

[0082] S33: Actual operating parameters are obtained based on total splash distance, material specifications, and inertial force intensity.

[0083] Actual operating parameters refer to the commands ultimately used to control the UAV to execute the formal flushing operation. These parameters are obtained by analyzing the total splash distance, material specifications, and inertial force intensity. The specific analysis methods for actual operating parameters are described below.

[0084] S34: The scouring gravity is obtained through actual operating parameters, material specifications, and sidewall adhesion volume.

[0085] The scouring gravity refers to the weight of the liquid involved in the scouring. A two-dimensional axisymmetric model of the container-liquid-UAV motion is established using computational fluid dynamics software (such as ANSYS Fluent and OpenFOAM). Different accelerations (2~12 m / s²), action times (0.2~1.5 s), liquid level heights (20%~80% of the container height), and material viscosities (100~5000 cP) are set to simulate the splashing process. The mass of the liquid that finally falls onto the sidewall adhesion area is recorded. All simulation results are subjected to multivariate nonlinear regression to obtain a control model based on a formula. The actual operating parameters, material specifications, and sidewall adhesion volume are input into the mass of the liquid obtained from the control model. The product of the liquid mass and the gravitational acceleration is then calculated as the scouring gravity.

[0086] S35: The scouring frequency is obtained by comparing the inertial force intensity with the scouring gravity.

[0087] The rinsing frequency refers to the number of times a single rinsing action needs to be repeated. By analyzing the exceedance of the inertial force intensity and the rinsing gravity, when the inertial force intensity does not exceed the rinsing gravity, it means that a single rinsing can wash off the material adhering to the side wall, and the rinsing frequency is 1.

[0088] When the inertial force exceeds the scouring gravity, it means that a single scouring is not enough to remove the material adhering to the sidewall. The quotient of the inertial force and the scouring gravity is then calculated as the scouring frequency. If the quotient is a decimal, the scouring frequency is taken as the largest integer.

[0089] S36: The flight direction is obtained based on the sidewall adhesion location.

[0090] Flight direction refers to the direction in which the drone needs to move horizontally after completing vertical movement. It is defined by taking the center of the drone as the reference point and the direction from the center of the drone toward the side wall where it is attached.

[0091] S37: Adhesion removal parameters are formed by combining flight direction, actual operating parameters, and scouring frequency.

[0092] By combining the flight direction, actual operating parameters, and flushing frequency to create a situation where the liquid in the container can fly horizontally during actual operating parameters, the liquid can be positioned above the material adhering to the sidewalls for gravity flushing. Then, multiple flushes are performed at the flushing frequency. Finally, the steps described above are integrated to form the adhesion removal parameters.

[0093] Methods for obtaining actual operating parameters include: S40: Calculate the sum of the adhesion distance and the preset coverage height as the total coverage distance.

[0094] Total coverage distance refers to the sum of adhesion distance and coverage height. The total coverage distance is calculated by adding the adhesion distance to the preset coverage height.

[0095] S41: The allowable variation distance is obtained based on the total coverage distance and the total splash distance.

[0096] The permissible variation distance refers to the distance at which the height of liquid splash can vary. Combining the total coverage distance and the total splash distance, the straight-line distance between the end of the total coverage distance and the end of the total splash distance (the top of the container) is taken as the permissible variation distance.

[0097] S42: The allowable acceleration and allowable time are obtained based on the allowable change distance and the strength of the inertial force.

[0098] Permissible acceleration refers to the acceleration value that a UAV is allowed to exhibit within the permissible range of change. Permissible time refers to the duration corresponding to the permissible acceleration. The permissible splash distance is obtained by combining the total coverage distance within the permissible range of change. The minimum velocity change value is calculated based on the permissible splash distance. The target acceleration is then matched from the adhesion reference table using the inertial force intensity. The permissible acceleration is selected from the critical acceleration and target acceleration retrieved from the material specifications. Finally, the quotient of the minimum velocity change value and the permissible acceleration is calculated as the permissible time.

[0099] Minimum velocity change = (2g × permissible splash distance) 0.5 , where g is the acceleration due to gravity.

[0100] S43: Simulates the splash mass using permissible acceleration, permissible time, and material specifications.

[0101] Splash mass refers to the mass of liquid that can be effectively thrown up and participate in the gravity flushing of the sidewall-adhesive material under permissible acceleration and permissible time. Splash mass is determined by matching the permissible acceleration, permissible time, and material specifications from the adhesion reference table. The greater the permissible acceleration, the greater the mass of liquid effectively thrown up; the greater the permissible time, the higher the distance the liquid is thrown up. With the position of the sidewall-adhesive material remaining unchanged, the greater the distance exceeded, the more mass of the sidewall-adhesive material participates in the gravity flushing of the sidewall-adhesive material.

[0102] The adhesion control table was obtained by measuring the thickness δ of the thrown liquid at different allowable accelerations a through offline experiments, thus yielding δ = k × (a - critical acceleration). β k and β are empirical coefficients, for example, k = 0.02 m / (m / s²), β = 0.5), which can be calibrated through 3 to 5 splash experiments with different accelerations. The critical acceleration is the minimum acceleration at which material inside the container splashes due to inertial forces. It is obtained beforehand from material specifications through experiments.

[0103] Splash mass = density in material specifications × preset container bottom area × δ.

[0104] The splash mass is calculated by inputting the allowable acceleration, allowable time, and material specifications into the adhesion checklist.

[0105] S44: Select the allowable acceleration and allowable time corresponding to the largest splash mass as the target acceleration and target time, and use the target acceleration and target time as the actual operating parameters.

[0106] The target acceleration refers to the allowable acceleration of the maximum splash mass, and the target time refers to the duration corresponding to the target acceleration. The allowable acceleration and allowable time corresponding to the maximum splash mass are defined as the target acceleration and target time, and the target acceleration and target time are used as actual operating parameters.

[0107] Methods for obtaining the scouring force before gravity includes: S50: Collects real-time flight parameters of the drone.

[0108] Real-time flight parameters refer to the data set of the UAV's current state, including at least the current total mass (including containers and internal materials), the real-time thrust limit of each rotor, battery voltage, discharge rate, and attitude angles and angular velocities fed back by the flight control system. These data are collected in real time by onboard sensors (ammeters, voltmeters, IMUs) and read from the flight control state estimator. The collected data are then combined to form the real-time flight parameters. The current total mass can be estimated using a pre-takeoff weighing sensor or by subtracting the amount of material consumed from the initial mass.

[0109] S51: The maximum acceleration is obtained based on real-time flight parameters.

[0110] Maximum acceleration refers to the maximum vertical acceleration that the drone can safely output under the current conditions. The maximum acceleration is determined by matching real-time flight parameters from a preset drone lookup table.

[0111] The UAV reference table stores the maximum acceleration corresponding to different real-time flight parameters. The parameters in the UAV reference table are set in advance by those skilled in the art based on actual conditions.

[0112] S52: Compare the target acceleration with the maximum acceleration to continue outputting the target acceleration, or use the maximum acceleration to execute S43 and S44 to obtain new actual operating parameters.

[0113] By analyzing the cases where the target acceleration exceeds the maximum acceleration, it is determined that if the target acceleration does not exceed the maximum acceleration, the UAV is capable of outputting the target acceleration, and no adjustment is required.

[0114] When the target acceleration exceeds the maximum acceleration, it means that the UAV cannot output the target acceleration. In this case, the maximum acceleration replaces the allowable acceleration of S43 and the corresponding duration is recalculated as the maximum duration. Finally, the maximum acceleration and the maximum duration are used as the new actual operating parameters.

[0115] S53: Update the flushing gravity based on the new actual operating parameters.

[0116] The height of the liquid is inferred from the minimum velocity change value calculated based on the maximum duration and maximum acceleration, and a new splash mass is matched with S43. The product of the new splash mass and the gravitational acceleration is calculated as the new scouring gravity.

[0117] Methods prior to forming adhesion removal parameters include: S60: The actual inertial mass is obtained based on the updated scouring gravity.

[0118] Actual inertial mass refers to the volume of liquid that generates the renewed scouring gravity. It is obtained by calculating the quotient of scouring gravity and gravitational acceleration.

[0119] S61: The descent scouring force is obtained by combining the actual inertial mass and the maximum acceleration.

[0120] The scouring force refers to the total impact force exerted by a liquid on the material adhering to the sidewall under the combined action of inertial force and gravity. Scouring force = actual inertial mass × maximum acceleration.

[0121] S62: The actual descent force is obtained based on the descent scouring force and the updated scouring gravity.

[0122] The actual descent force refers to the sum of the descent scouring force and the scouring gravity. The actual descent force is calculated by adding the descent scouring force to the updated scouring gravity.

[0123] S63: Compare the actual descent force with the inertial force strength to determine the maximum acceleration as the descent acceleration and combine it with the flight direction and actual operating parameters to form adhesion removal parameters, or update the scouring frequency by comparing the actual descent force with the inertial force strength.

[0124] Descent acceleration refers to the acceleration required to control the drone's vertical downward movement. By analyzing the actual descent force and the inertial force intensity, when the actual descent force exceeds the inertial force intensity, it indicates that the vertical acceleration of the drone in a single up-and-down motion can remove the material adhering to the side wall. Therefore, the maximum acceleration is taken as the descent acceleration (the acceleration before S53 is the acceleration of the drone flying vertically upward). Combining the descent acceleration, flight direction, and actual operating parameters, the adhesion removal parameters for a single up-and-down acceleration are formed (the flight direction is set to upward acceleration, so that the splashed liquid generates a downward inertial force, and then the drone changes to downward acceleration after reaching the highest point, forming an up-and-down flushing action).

[0125] When the actual descent force does not exceed the inertial force strength, it means that the vertical acceleration of the drone in a single up-and-down motion is not enough to remove the material adhering to the sidewall. Multiple up-and-down motions are required. In this case, refer to S35 and replace the actual descent force with the new quotient calculated by the scouring gravity as the new scouring frequency.

[0126] S64: Adhesion removal parameters are generated based on the updated flushing frequency, flight direction, actual operating parameters, and descent acceleration.

[0127] The adhesion removal parameters are formed by combining the updated flushing frequency, flight direction, actual operating parameters, and descent acceleration (the flight direction is set to accelerate upwards, so that the splashed liquid generates a downward inertial force, and then the UAV changes to accelerate downwards after reaching the highest point, forming an up-and-down flushing motion, and performing multiple up-and-down flushing motions with the updated flushing frequency).

[0128] Also includes: S70: The amount of adhesion is obtained based on the adhesion removal parameters, preset material specifications, and preset loading specifications.

[0129] The loading specifications are the container geometry and material properties set by the technicians.

[0130] Adhesion amount refers to the volume of splashed liquid still adhering to the sidewall of the container after the inertial force scouring has completed. It is determined by retrieving the container sidewall roughness from the loading specifications, the material viscosity from the material specifications, and combining this with the scouring gravity of the material in the adhesion removal parameters. The adhesion amount is then matched to an adhesion reference table based on the scouring gravity, roughness, and viscosity. The greater the scouring gravity, the smaller the roughness, and the lower the viscosity, the smaller the adhesion amount.

[0131] S71: Obtain adhesion detection parameters through the amount of adhesion.

[0132] The adhesion detection parameters refer to the initial detection parameters corresponding to the amount of liquid adhering after it has finished falling. Referring to S10, the pressure value and liquid level generated when it is at the bottom of the container are deduced from the amount of liquid adhering, and the deduced pressure value and liquid level are used as the adhesion detection parameters.

[0133] S72: Combine the adhesion detection parameters with the baseline storage parameters to obtain the completed detection parameters.

[0134] The completion test parameters refer to the liquid level and pressure values ​​of the remaining free liquid in the container when the splashed liquid still adheres to the side wall of the container after the inertial force scouring is completed. The difference between the baseline storage parameters and the adhesion test parameters is used as the completion test parameters.

[0135] S73: Update the initial detection parameters with adhesion removal parameters.

[0136] Execute S16 to obtain new initial detection parameters.

[0137] S74: When the updated initial detection parameters are consistent with the completed detection parameters, stop outputting adhesion removal parameters and continue executing the remaining operation parameters.

[0138] When the updated initial detection parameters match the completed detection parameters, it indicates that the material attached to the sidewall has been washed away and fallen off. In this case, the output of adhesion removal parameters is stopped, and the drone is controlled to continue executing the remaining operation parameters. When the updated initial detection parameters do not match the completed detection parameters, the process is re-executed in step S10.

[0139] Also includes: S80: The adhesion height is obtained by combining the adhesion amount and adhesion removal parameters.

[0140] The adhesion area refers to the height of the material remaining on the sidewall after being washed away. It is obtained by inputting the adhesion amount and adhesion removal parameters into finite element software for simulation, and the position of the splashed material on the upper boundary of each area on the sidewall of the container is used as the adhesion height.

[0141] S81: Rotational force is obtained by the attachment height and loading specifications.

[0142] Rotational force refers to the centrifugal force generated by the rotation along the central axis of the container. The rotational force is calculated based on the attachment height and loading specifications.

[0143] Rotational force = [(2 × gravitational acceleration × adhesion height) / R] 2 ] 0.5 , where R is the container radius retrieved from the loading specifications.

[0144] S82: The rotation speed is obtained based on the rotation force and the completed material parameters.

[0145] Rotational speed refers to the angular velocity required to rotate along the central axis of the container. The rotational speed is calculated by the rotational force and the material parameters.

[0146] Rotational speed = [rotational force / (M × R)] 0.5 , where M is the mass of the liquid calculated based on the material parameters (pressure value and liquid level) and the density of the material.

[0147] S83: Collect the rotational sidewall pressure value of the attachment area.

[0148] The rotating sidewall pressure value refers to the static pressure value measured at different heights along the sidewall of the container after the UAV has rotated stably at a certain rotation speed. When the UAV drives the container to rotate by controlling the rotation speed, the pressure value collected by the S14 sidewall is used as the rotating sidewall pressure value.

[0149] S84: Update the remaining amount based on the rotating sidewall pressure value and rotation speed.

[0150] The new remaining amount is obtained by analyzing the pressure value of the rotating sidewall and the rotation speed.

[0151] Methods for updating the remaining amount include: S90: The actual sidewall area for collecting the rotational sidewall pressure value.

[0152] The actual sidewall area refers to the unfolded area of ​​the sidewall portion in contact with the liquid during rotation. It is defined as the area formed by the various points where the rotational sidewall pressure value occurs.

[0153] S91: The liquid surface thickness is obtained based on the rotation speed and the pressure value of the rotating side wall.

[0154] Liquid thickness refers to the thickness of the liquid in the vertical direction at a certain height on the sidewall during rotation. The liquid thickness is determined by matching the rotation speed and the pressure value on the rotating sidewall from a preset rotation lookup table. In this embodiment, the liquid thickness is measured perpendicular to the container sidewall.

[0155] The rotation reference table stores the liquid surface thickness corresponding to different rotation speeds and rotational sidewall pressure values. The higher the rotation speed and rotational sidewall pressure, the greater the liquid surface thickness. The parameters in the rotation reference table were set in advance by those skilled in the art based on actual conditions.

[0156] S92: Calculate the new remaining amount based on the differential of the liquid surface thickness and the actual sidewall area.

[0157] The total volume of all materials in the container is calculated by using a trapezoidal integral of the liquid surface thickness and the actual sidewall area, and is taken as the new remaining quantity.

[0158] Based on the same inventive concept, embodiments of the present invention provide a drone inkjet printing material usage monitoring and replenishment reminder system, comprising: The acquisition module is used to acquire initial pressure parameters, initial liquid level parameters, operating parameters, sidewall pressure values, and sidewall adhesion locations. A memory for storing a program for monitoring and reminding users of the amount of spray painting materials used by drones; The processor is used to load and execute programs stored in memory.

[0159] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional modules is used as an example. In practical applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0160] The above description is merely a preferred embodiment of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A method for monitoring and replenishing unmanned aerial vehicle (UAV) inkjet printing material usage, characterized in that, include: S10: In response to the material usage monitoring command, collect the initial pressure parameters, initial liquid level parameters, and operation parameters in the inkjet material container, and define the initial pressure parameters and initial liquid level parameters as initial detection parameters; S11: Obtain the total output material quantity and remaining operation parameters based on the operation parameters; S12: Obtain baseline storage parameters based on the total output material quantity and preset material specifications; S13: Obtain the deviation detection parameters by comparing the consistency between the initial detection parameters and the baseline stored parameters; S14: Collect sidewall pressure values ​​and sidewall adhesion locations; S15: Obtain the sidewall adhesion volume by using the sidewall pressure value and deviation detection parameters; S16: Obtain adhesion removal parameters based on the sidewall adhesion volume and sidewall adhesion location, and use the adhesion removal parameters to control the operation of the UAV and re-collect the initial detection parameters; S17: The remaining amount is obtained by combining the initial test parameters and material specifications; S18: Retrieve the baseline remaining quantity from the remaining operation parameters, and compare the remaining quantity with the baseline remaining quantity to output a replenishment prompt message.

2. The method for monitoring and replenishing UAV inkjet printing material usage according to claim 1, characterized in that, Methods prior to obtaining adhesion removal parameters include: S20: The adhesion distance is obtained based on the initial liquid level parameters and the adhesion position on the sidewall; S21: The inertial force is tested based on the adhesion distance, preset material specifications, and preset coverage height; S22: Obtain the operating parameters of the UAV by checking the inertial force; S23: Use operating parameters to control the operation of the drone and update the initial detection parameters with a preset inspection duration; S24: Obtain the change detection parameters based on the initial detection parameters before and after the update; S25: The sidewall adhesion volume is obtained by combining the change detection parameters, sidewall pressure value and deviation detection parameters.

3. The method for monitoring and replenishing UAV inkjet printing material usage according to claim 2, characterized in that, Methods for obtaining adhesion removal parameters include: S30: The material excess distance is obtained based on the side wall adhesion position and the preset tank height; S31: The inertial force strength is obtained based on the sidewall adhesion volume and material specifications; S32: The total splash distance is obtained by combining the material overshoot distance and the adhesion distance; S33: Actual operating parameters are obtained based on total splash distance, material specifications, and inertial force intensity; S34: The scouring gravity is obtained through actual operating parameters, material specifications, and sidewall adhesion volume; S35: The scouring frequency is obtained by comparing the inertial force intensity with the scouring gravity. S36: Flight direction is obtained based on the sidewall adhesion location; S37: Adhesion removal parameters are formed by combining flight direction, actual operating parameters, and scouring frequency.

4. The method for monitoring and replenishing UAV inkjet printing material usage according to claim 3, characterized in that, Methods for obtaining actual operating parameters include: S40: Calculate the sum of the adhesion distance and the preset coverage height as the total coverage distance; S41: The allowable variation distance is obtained based on the total coverage distance and the total splash distance; S42: The allowable acceleration and allowable time are obtained based on the allowable change distance and the strength of the inertial force; S43: Simulates the splash mass using permissible acceleration, permissible time, and material specifications; S44: Select the allowable acceleration and allowable time corresponding to the largest splash mass as the target acceleration and target time, and use the target acceleration and target time as the actual operating parameters.

5. The method for monitoring and replenishing UAV inkjet printing material usage according to claim 4, characterized in that, Methods for obtaining the scouring force before gravity includes: S50: Collects real-time flight parameters of the UAV; S51: Maximum acceleration is obtained based on real-time flight parameters; S52: Compare the target acceleration with the maximum acceleration to continue outputting the target acceleration, or use the maximum acceleration to execute S43 and S44 to obtain new actual operating parameters; S53: Update the flushing gravity based on the new actual operating parameters.

6. The method for monitoring and replenishing UAV inkjet printing material usage according to claim 5, characterized in that, Methods prior to forming adhesion removal parameters include: S60: The actual inertial mass is obtained based on the updated scouring gravity; S61: The descent scouring force is obtained by combining the actual inertial mass and the maximum acceleration; S62: The actual descent force is obtained based on the descent scouring force and the updated scouring gravity; S63: Compare the actual descent force with the inertial force strength to determine the maximum acceleration as the descent acceleration and combine it with the flight direction and actual operating parameters to form adhesion removal parameters, or update the scouring frequency by comparing the actual descent force with the inertial force strength. S64: Adhesion removal parameters are generated based on the updated flushing frequency, flight direction, actual operating parameters, and descent acceleration.

7. The method for monitoring and replenishing UAV inkjet printing material usage according to claim 6, characterized in that, Also includes: S70: The amount of adhesion is obtained based on the adhesion removal parameters, preset material specifications, and preset loading specifications; S71: Obtain adhesion detection parameters through adhesion amount; S72: Combine the adhesion detection parameters with the baseline stored parameters to obtain the complete detection parameters; S73: Update the initial detection parameters with adhesion removal parameters; S74: When the updated initial detection parameters are consistent with the completed detection parameters, stop outputting adhesion removal parameters and continue executing the remaining operation parameters.

8. The method for monitoring and replenishing UAV inkjet printing material usage according to claim 7, characterized in that, Also includes: S80: The adhesion height is obtained by combining the adhesion amount and adhesion removal parameters; S81: Rotational force is obtained through attachment height and loading specifications; S82: The rotation speed is obtained based on the rotational force and the completed material parameters; S83: Collect the rotating sidewall pressure value of the adhesion area; S84: Update the remaining amount based on the rotating sidewall pressure value and rotation speed.

9. A method for monitoring and replenishing UAV inkjet printing material usage according to claim 8, characterized in that, Methods for updating the remaining amount include: S90: The actual sidewall area used to collect the rotational sidewall pressure value; S91: The liquid surface thickness is obtained based on the rotation speed and the pressure value of the rotating side wall; S92: Calculate the new remaining amount based on the differential of the liquid surface thickness and the actual sidewall area.

10. A system for monitoring and replenishing UAV printing material usage, characterized in that, include: The acquisition module is used to acquire initial pressure parameters, initial liquid level parameters, operating parameters, sidewall pressure values, and sidewall adhesion locations. A memory for storing a program that implements a method for monitoring and replenishing UAV painting material usage as described in any one of claims 1 to 9; The processor is used to load and execute programs stored in memory.

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