Application method and program

Abstract

Provided is a method for applying a liquid substance using an unmanned aircraft, the method comprising: a step for applying a predetermined first liquid substance to an object being coated from a first unmanned aircraft; a step for performing downwashing on the first liquid substance from a second unmanned aircraft, which has a rotor blade, from a position higher than the applied first liquid substance to promote a change in the first liquid substance; and a step for applying a predetermined second liquid substance to the changed first liquid substance from a third unmanned aircraft. Also provided is a program in which, when the program is executed by a computer, the computer: causes a first unmanned aircraft to apply a predetermined first liquid substance to an object being coated; causes a second unmanned aircraft, which has a rotor blade, to perform downwashing on the first liquid substance from the second unmanned aircraft from a position higher than the applied first liquid substance to promote a change in the first liquid substance; and causes a third unmanned aircraft to apply a predetermined second liquid substance to the changed first liquid substance.

Description

Coating method and program

[0001] The present invention relates to a coating method and a program.

[0002] Patent Document 1 describes a method for performing antibacterial and antiviral treatment by spraying a liquid from the sky using an unmanned aerial vehicle. [Prior art documents] [Patent documents] Patent Document 1: JP 2022-89775 A Patent Document 2: JP 6611213 A

[0003] A coating method is provided in which a change in a first liquid material is promoted and a second liquid material is applied over the first liquid material. General disclosure

[0004] In a first aspect of the present invention, there is provided a method for applying a liquid material using an unmanned aerial vehicle, comprising the steps of applying a predetermined first liquid material to an object to be applied from a first unmanned aerial vehicle, directing the downwash of a second unmanned aerial vehicle having rotors onto the first liquid material from a position higher than the applied first liquid material to promote a change in the first liquid material, and applying a predetermined second liquid material from a third unmanned aerial vehicle to the changed first liquid material.

[0005] In the above coating method, at least two of the first unmanned aerial vehicle, the second unmanned aerial vehicle, and the third unmanned aerial vehicle may be the same unmanned aerial vehicle.

[0006] In any of the above coating methods, the first unmanned aerial vehicle, the second unmanned aerial vehicle, and the third unmanned aerial vehicle may be the same unmanned aerial vehicle.

[0007] In any of the above coating methods, the second liquid material may be the same liquid material as the first liquid material.

[0008] Any of the above application methods may include a step of detecting a change in the first liquid material using a detection unit possessed by the second unmanned aerial vehicle.

[0009] Any of the above application methods may include a step of moving the second unmanned aerial vehicle in accordance with the change in state of the first liquid material detected by the detection unit.

[0010] In any of the above application methods, the step of detecting a change in the first liquid material may include a step of detecting a change in the first liquid material using a thermal infrared camera that the second unmanned aerial vehicle has as the detection unit.

[0011] In any of the above application methods, the step of detecting a change in the first liquid material may include a step of detecting a change in the first liquid material using a visible light camera that the second unmanned aerial vehicle has as the detection unit.

[0012] Any of the above application methods may include a step of calculating the amount of the second liquid material to be applied in accordance with the change in the state of the first liquid material detected by the detection unit of the second unmanned aerial vehicle.

[0013] Any of the above application methods may include a step of outputting permission information from a permission information acquisition unit possessed by the second unmanned aerial vehicle, which permission information permits application of the second liquid material in accordance with the changing state of the first liquid material.

[0014] Any of the above coating methods may include a step of detecting the coating target before coating the first liquid material, and calculating the amount of the first liquid material to be applied.

[0015] In any of the above application methods, the object to be applied may be located at the top of a structure, and the step of applying the first liquid material to the object to be applied may include the steps of moving the first unmanned aerial vehicle to a position higher than the object to be applied, and applying the first liquid material from the first unmanned aerial vehicle from a position higher than the object to be applied.

[0016] In a second aspect of the present invention, a program is provided which, when executed by a computer, causes a first unmanned aerial vehicle to apply a predetermined first liquid material to an application target, causes a second unmanned aerial vehicle having rotors to direct the downwash of the second unmanned aerial vehicle onto the first liquid material from a position higher than the applied first liquid material to promote the transformation of the first liquid material, and causes a third unmanned aerial vehicle to apply a predetermined second liquid material to the transformed first liquid material.

[0017] The above summary of the invention does not list all of the features of the present invention, and subcombinations of these features may also be inventions.

[0018] 1 shows an example of the configuration of the unmanned aerial vehicle 100. 1 shows an example of a flowchart of a coating method. 1 shows an example of the flow ... a block diagram of the unmanned aerial vehicle 100. 1 shows a modified configuration of the unmanned aerial vehicle 100. 1 shows an example of detection by the detection unit 30. 1 shows an example of detection by the detection unit 30. 1 shows an example of the operation of the first unmanned aerial vehicle 100-1. 1 shows an example of the operation of the second unmanned aerial vehicle 100-2. 1 shows an example of the operation of the second unmanned aerial vehicle 100-2. 1 shows an example of the operation of the second unmanned aerial vehicle 100-2. 1 shows an example of the flow of a coating method. 1 shows an example of the operation of the second unmanned aerial vehicle 100-2. 1 shows a modified flowchart of the coating method. 1 shows an example of a computer 1000 in which multiple aspects of the present invention may be embodied in whole or in part.

[0019] The present invention will be described below through embodiments of the invention, but the following embodiments do not limit the scope of the invention as claimed. Furthermore, not all of the combinations of features described in the embodiments are necessarily essential to the solution of the invention.

[0020] 1 shows an example of the configuration of an unmanned aerial vehicle 100. The unmanned aerial vehicle 100 is an air vehicle that flies in the air. The unmanned aerial vehicle 100 of this example includes a main body 10, a propulsion unit 20, a container holding unit 40, and a discharge unit 50.

[0021] The main body 10 houses various control circuits, a power supply, and the like for the unmanned aerial vehicle 100. The main body 10 may also function as a structure that connects the components of the unmanned aerial vehicle 100. In this example, the main body 10 is connected to the propulsion unit 20.

[0022] The propulsion units 20 propel the unmanned aerial vehicle 100. The propulsion units 20 have rotors 21 and a rotary drive unit 22. The unmanned aerial vehicle 100 in this example is equipped with four propulsion units 20. The propulsion units 20 are attached to the main body 10 via arms 24.

[0023] The propulsion unit 20 obtains thrust by rotating the rotors 21. Four rotors 21 are provided around the main body 10, but the arrangement of the rotors 21 is not limited to this example. That is, the unmanned aerial vehicle 100 may be a helicopter type with one rotor 21, or a bicopter type with two rotors 21. It may also be a multicopter type with three or more rotors 21. In this example, the rotors 21 are provided at the tips of the arms 24 via rotation drive units 22.

[0024] The rotary drive unit 22 has a power source such as a motor and drives the rotor 21. The rotary drive unit 22 may have a brake mechanism for the rotor 21. The rotor 21 and the rotary drive unit 22 may be attached directly to the main body 10 without the arm 24.

[0025] The arms 24 extend radially from the main body 10. The unmanned aerial vehicle 100 of this example has four arms 24 corresponding to the four propulsion units 20. The arms 24 may be fixed or movable. Other components, such as a camera, may be fixed to the arms 24.

[0026] When the rotor 21 rotates, downwash is generated. The unmanned aerial vehicle 100 may apply the downwash to the liquid material to promote the transformation of the liquid material. Details of promoting the transformation of the liquid material by applying the downwash will be described later.

[0027] The container holder 40 holds a container that stores the contents. In one example, the container holder 40 is a cylindrical sleeve that houses the container.

[0028] The material of the container holder 40 is not particularly limited as long as it can maintain the shape of the container holder. For example, the material of the container holder 40 includes metals such as aluminum, plastics, and lightweight materials with high strength such as carbon fiber. Furthermore, the material of the container holder 40 is not limited to hard materials and may include soft materials, such as rubber materials such as silicone rubber or urethane foam. The container holder 40 may also include a heating mechanism for heating or keeping the container warm.

[0029] The discharge unit 50 is connected to a container and discharges the contents of the container. In this example, the contents are a liquid. The liquid includes liquid, gel, paste, and other viscous states. The unmanned aerial vehicle 100 may apply the liquid to an application target 600 (described below) by discharging the liquid from the discharge unit 50.

[0030] The legs 15 are connected to the main body 10 and maintain the attitude of the unmanned aerial vehicle 100 during landing. The legs 15 maintain the attitude of the unmanned aerial vehicle 100 when the propulsion unit 20 is stopped. The unmanned aerial vehicle 100 in this example has two legs 15. A container holding unit 40 may be attached to the legs 15.

[0031] 2 shows an example of a flowchart of a coating method. The coating method of this example is a method of coating a liquid material using an unmanned aerial vehicle 100.

[0032] In step S110, the application method applies a predetermined first liquid material 102 from a first unmanned aerial vehicle 100-1 to an application target 600. Unmanned aerial vehicle 100 described in relation to Figure 1 is an example of a first unmanned aerial vehicle 100-1.

[0033] The coating target 600 is an object to which the liquid is to be coated. The coating target 600 may be a portion to be repaired in an outdoor structure such as a building or structure, or may be a portion to be painted on a mobile object such as a vehicle or aircraft. For example, the coating target 600 may be rust on a metal-containing roof or a hole in the roof.

[0034] The first liquid material 102 may be a liquid whose reaction is accelerated by downwash from the unmanned aerial vehicle 100. The first liquid material 102 may be a liquid whose reaction progresses even when left alone after application. The first liquid material 102 may include water and / or an organic solvent. For example, if the application target 600 is rust on a roof containing a metal material, the first liquid material 102 may include a black rust converter. As another example, if the application target 600 is a hole in a roof, the first liquid material 102 may include a repair agent for sealing the hole.

[0035] In step S120 of the application method, downwash 104 from a second unmanned aerial vehicle 100-2 having rotors 21 is applied to the first liquid material 102 from a position higher than the applied first liquid material 102, thereby promoting the transformation of the first liquid material 102. The unmanned aerial vehicle 100 described in connection with FIG. 1 is an example of the second unmanned aerial vehicle 100-2. The second unmanned aerial vehicle 100-2 may be the same as or different from the first unmanned aerial vehicle 100-1. For example, the second unmanned aerial vehicle 100-2 may not include the container holding unit 40 and the discharge unit 50. Furthermore, the second unmanned aerial vehicle 100-2 may be a larger unmanned aerial vehicle 100 having rotors 21 larger than those of the first unmanned aerial vehicle 100-1. In this case, the second unmanned aerial vehicle 100-2 can generate a stronger downwash 104, thereby further promoting the transformation of the first liquid material 102.

[0036] The change in the first liquid material 102 includes deterioration, drying, or cooling of the first liquid material 102, or a reaction or chemical reaction between the first liquid material 102 and the application target 600. For example, if the application target 600 is rust on a roof containing a metal material and the first liquid material 102 contains a black rust converter, the change in the first liquid material 102 may refer to a chemical reaction in which the red rust contained in the rust on the roof changes to black rust and / or the drying of the black rust converter. As another example, if the application target 600 is a hole in a roof and the first liquid material 102 contains a repair agent to seal the hole, the change in the first liquid material 102 may refer to the drying and / or hardening of the repair agent.

[0037] The downwash 104 may promote the change of the first liquid material 102. The downwash 104 may be used to spread the first liquid material 102. The downwash 104 may be used to level the surface of the first liquid material 102. The downwash 104 may be used to remove foreign matter on the application target 600 or to dry the application target 600 after cleaning.

[0038] In step S130, the application method applies a predetermined second liquid material 106 from a third unmanned aerial vehicle 100-3 to the changed first liquid material 102. Unmanned aerial vehicle 100 described in connection with FIG. 1 is an example of third unmanned aerial vehicle 100-3. Third unmanned aerial vehicle 100-3 may be the same as or different from first unmanned aerial vehicle 100-1 and / or second unmanned aerial vehicle 100-2.

[0039] The second liquid material 106 is a liquid material that is applied to the changed first liquid material 102. The second liquid material 106 may be applied to the changed first liquid material 102 after waiting for the first liquid material 102 to change. The second liquid material 106 may be the same liquid material as the first liquid material 102, or may be a liquid material different from the first liquid material 102. For example, the second liquid material 106 is a paint that is applied to protect the repaired area and improve its appearance after the black rust converter (first liquid material 102) has dried. As another example, the second liquid material 106 may be a repair agent that is applied for further repair after the repair agent (first liquid material 102) has hardened if the repair agent (first liquid material 102) is not enough to seal the hole in the roof.

[0040] In the application method of this example, the downwash 104 of the second unmanned aerial vehicle 100-2 hits the first liquid material 102 to promote the change in the first liquid material 102. This allows the application of the first liquid material 102 and the application of the second liquid material 106 to be carried out efficiently. For example, in cases where the second liquid material 106 is applied after waiting for the change in the first liquid material 102, the application method of this example can improve application efficiency.

[0041] In the following description, the first unmanned aerial vehicle 100-1, the second unmanned aerial vehicle 100-2, and the third unmanned aerial vehicle 100-3 may be collectively referred to as the unmanned aerial vehicle 100 unless a particular distinction is required. Similarly, the unmanned aerial vehicle 100 described in relation to FIG. 1 may be the first unmanned aerial vehicle 100-1, the second unmanned aerial vehicle 100-2, or the third unmanned aerial vehicle 100-3. In other words, the names first unmanned aerial vehicle 100-1, the second unmanned aerial vehicle 100-2, and the third unmanned aerial vehicle 100-3 are used to distinguish between the entities that perform each step in the coating method of this example, and are not used to distinguish between the unmanned aerial vehicles 100 themselves. The first unmanned aerial vehicle 100-1, the second unmanned aerial vehicle 100-2, and the third unmanned aerial vehicle 100-3 that perform each step in the coating method of this example may be the same as or different from one another.

[0042] 3A shows an example of a flow of a coating method. Step S100 indicates the start point of the coating method of this example. The coating target 600 of this example is rust that has occurred on a structure 650. The structure 650 is composed of a substrate 652 and a coating film 654.

[0043] In the coating method of this example, in step S110, the first liquid material 102, which is a black rust converter, is applied from the first unmanned aerial vehicle 100-1 to the rust, which is the coating target 600.

[0044] In step S120 of the application method, the downwash 104 of a second unmanned aerial vehicle 100-2 having rotors 21 is directed onto the first liquid material 102 from a position higher than the applied first liquid material 102, thereby promoting the transformation of the first liquid material 102. In this example, the evaporation of water, which is the solvent of the black rust converter that is the first liquid material 102, is promoted. After the transformation of the first liquid material 102 is promoted, solid components may remain in the transformed first liquid material 102. For example, the remaining solid components may form a coating.

[0045] In the application method, in step S130, the third unmanned aerial vehicle 100-3 applies the second liquid material 106, which is paint, to the changed first liquid material 102. This makes it possible to protect the repaired portion. For example, the color of the paint, which is the second liquid material 106, may be similar to the color of the paint film 654. This makes it possible to improve the appearance after the repair.

[0046] 3B shows an example of a flow of the coating method. Step S100 indicates the time point at which the coating method of this example starts. The coating target 600 of this example is a hole in a structure 650.

[0047] In the application method of this example, in step S110, first unmanned aerial vehicle 100-1 applies a repair agent, which is first liquid material 102, to a hole, which is an application target 600. The viscosity of first liquid material 102 may be high. For example, first liquid material 102 may be a caulking agent, liquid putty, liquid rubber, or paint.

[0048] In step S120 of the application method, downwash 104 of second unmanned aerial vehicle 100-2 having rotors 21 is applied to first liquid material 102 from a position higher than the applied first liquid material 102 to promote a change in first liquid material 102. In this example, hardening of the repair agent, which is first liquid material 102, is promoted. For example, first liquid material 102 may harden by reacting with oxygen in the atmosphere or with moisture in the atmosphere.

[0049] In the application method, in step S130, a repair agent, which is a second liquid material 106, is applied from a third unmanned aerial vehicle 100-3 to the transformed first liquid material 102. That is, the second liquid material 106 in this example is the same liquid material as the first liquid material 102. For example, a hole, which is the application target 600, that was not completely closed by the application of the first liquid material 102 can be closed by the application of the second liquid material 106.

[0050] 4A shows an example of the flow of the application method. In the application method of this example, first unmanned aerial vehicle 100-1, second unmanned aerial vehicle 100-2, and third unmanned aerial vehicle 100-3 are the same unmanned aerial vehicle 100. That is, steps S110, S120, and S130 may be performed using the same unmanned aerial vehicle 100. In the application method of this example, second liquid material 106 is the same liquid material as first liquid material 102. For example, application target 600 is a hole in structure 650, and first liquid material 102 and second liquid material 106 are repair agents.

[0051] In this example, application target 600 is located at the top of structure 650. In this case, step S110 of applying first liquid material 102 to application target 600 may include a step of moving first unmanned aerial vehicle 100-1 to a position higher than application target 600, and a step of applying first liquid material 102 from first unmanned aerial vehicle 100-1 from a position higher than application target 600. However, the position of application target 600 and the method of applying first liquid material 102 are not limited to these.

[0052] For example, application target 600 may be on the side wall of structure 650. In this case, second unmanned aerial vehicle 100-2 may have rotors 21 for the side wall. That is, second unmanned aerial vehicle 100-2 may have rotors 21 that are arranged so that the direction in which downwash 104 is generated is perpendicular to or intersects with the side wall of structure 650.

[0053] 4B shows an example of the flow of the application method. At least two of first unmanned aerial vehicle 100-1, second unmanned aerial vehicle 100-2, and third unmanned aerial vehicle 100-3 may be the same unmanned aerial vehicle 100. In the application method of this example, first unmanned aerial vehicle 100-1 and third unmanned aerial vehicle 100-3 are the same. That is, second unmanned aerial vehicle 100-2 may be different from first unmanned aerial vehicle 100-1 and third unmanned aerial vehicle 100-3.

[0054] For example, the second unmanned aerial vehicle 100-2 is an unmanned aerial vehicle 100 that is larger than the first unmanned aerial vehicle 100-1 and the third unmanned aerial vehicle 100-3. That is, the second unmanned aerial vehicle 100-2 may have larger rotors 21 than the first unmanned aerial vehicle 100-1 and the third unmanned aerial vehicle 100-3. In this case, the second unmanned aerial vehicle 100-2 can generate a stronger downwash 104 and further promote the change in the first liquid material 102. This allows the coating method of this example to further improve the coating efficiency.

[0055] It should be noted that even if the first unmanned aerial vehicle 100-1 and the third unmanned aerial vehicle 100-3 are different from each other, the second unmanned aerial vehicle 100-2 may be a large unmanned aerial vehicle 100 having larger rotors 21 than the first unmanned aerial vehicle 100-1 and the third unmanned aerial vehicle 100-3. This allows the second unmanned aerial vehicle 100-2 to generate stronger downwash 104 and further promote the change in the first liquid material 102, thereby further improving the application efficiency of the application method of this example.

[0056] 4C shows an example of the flow of the coating method. In the coating method of this example, first unmanned aerial vehicle 100-1, second unmanned aerial vehicle 100-2, and third unmanned aerial vehicle 100-3 are unmanned aerial vehicles 100 that are different from one another.

[0057] The first unmanned aerial vehicle 100-1, the second unmanned aerial vehicle 100-2, and the third unmanned aerial vehicle 100-3 may fly simultaneously. That is, steps S110, S120, and S130 of the application method may be performed in parallel. For example, the second unmanned aerial vehicle 100-2 may pass through an area where the first unmanned aerial vehicle 100-1 has passed while applying the first liquid material 102, while generating downwash 104, thereby promoting the transformation of the first liquid material 102. The third unmanned aerial vehicle 100-3 may pass through an area where the second unmanned aerial vehicle 100-2 has passed while generating downwash 104, while applying the second liquid material 106, thereby applying the second liquid material 106 to the transformed first liquid material 102. In this way, the application method of this example may involve first unmanned aerial vehicle 100-1, second unmanned aerial vehicle 100-2, and third unmanned aerial vehicle 100-3 working together to perform continuous work.

[0058] FIG. 5A shows an example of a block diagram of an unmanned aerial vehicle 100. The unmanned aerial vehicle 100 may include a detection unit 30, a flight control unit 110, and a permission information acquisition unit 120. Note that the blocks shown are functionally separated functional blocks and may not necessarily correspond to the actual device configuration. In other words, a block shown as a single block in this diagram may not necessarily be configured by a single device. Furthermore, blocks shown as separate blocks in this diagram may not necessarily be configured by separate devices.

[0059] The detection unit 30 detects predetermined information. The detection unit 30 may detect the distance between the discharge unit 50 and the coating target 600, and may detect the shape of the coating target 600. For example, the detection unit 30 acquires image information including the coating target 600. The detection unit 30 may acquire information related to the environment. For example, the detection unit 30 may acquire the environmental temperature. The detection unit 30 may detect a change in the first liquid material 102 and / or the second liquid material 106. The detection unit 30 may supply the detected information to the permission information acquisition unit 120.

[0060] The detection unit 30 may include at least one of a thermal infrared camera, a visible light camera, a multispectral camera, or a radiation thermometer. When the detection unit 30 includes a camera, the detection unit 30 may use the camera to capture video or still images at any interval.

[0061] The information detected by the detection unit 30 may be common to all of the first unmanned aerial vehicle 100-1, the second unmanned aerial vehicle 100-2 and the third unmanned aerial vehicle 100-3, or may depend on each of the first unmanned aerial vehicle 100-1, the second unmanned aerial vehicle 100-2 and the third unmanned aerial vehicle 100-3.

[0062] For example, the detection units 30 of the first unmanned aerial vehicle 100-1, the second unmanned aerial vehicle 100-2, and the third unmanned aerial vehicle 100-3 may detect the application target 600. The second unmanned aerial vehicle 100-2 may photograph the first unmanned aerial vehicle 100-1 applying the coating using the detection unit 30. The third unmanned aerial vehicle 100-3 may photograph the second unmanned aerial vehicle 100-2 applying downwash using the detection unit 30.

[0063] The flight control unit 110 controls the flight of the unmanned aerial vehicle 100. The flight control unit 110 may be provided in the main body unit 10, or may be provided external to the actual unmanned aerial vehicle 100. In one example, the flight control unit 110 is a flight controller. For example, the flight control unit 110 controls the ground speed, airspeed, and altitude of the unmanned aerial vehicle 100. The flight control unit 110 may supply data used for flight control to the permission information acquisition unit 120.

[0064] The permission information acquisition unit 120 acquires various permission information related to the operation of the unmanned aerial vehicle 100. For example, the permission information acquisition unit 120 acquires permission information permitting the application of a liquid material and / or permission information permitting the start and / or end of hovering. As an example, the permission information acquisition unit 120 possessed by the first unmanned aerial vehicle 100-1 may acquire permission information permitting the application of the first liquid material 102. The permission information acquisition unit 120 possessed by the second unmanned aerial vehicle 100-2 may acquire permission information permitting the start and / or end of hovering. The permission information acquisition unit 120 possessed by the third unmanned aerial vehicle 100-3 may acquire permission information permitting the application of the second liquid material 106. However, the permission information acquired by the permission information acquisition unit 120 is not limited to these.

[0065] The permission information acquisition unit 120 may acquire the permission information based on the information detected by the detection unit 30 and / or the data used for flight control supplied from the flight control unit 110. For example, the permission information acquisition unit 120 acquires the permission information based on the temperature information and image information acquired by the detection unit 30 and the hovering duration supplied from the flight control unit 110.

[0066] The permission information acquisition unit 120 may output permission information to other unmanned aerial vehicles 100. For example, the permission information acquisition unit 120 possessed by the first unmanned aerial vehicle 100-1 may output permission information permitting the start of hovering to the second unmanned aerial vehicle 100-2, and the permission information acquisition unit 120 possessed by the second unmanned aerial vehicle 100-2 may output permission information permitting the application of the second liquid material 106 to the third unmanned aerial vehicle 100-3. However, the permission information output by the permission information acquisition unit 120 and its output destination are not limited to these.

[0067] 5B shows a modified configuration of unmanned aerial vehicle 100. Unmanned aerial vehicle 100 of this example differs from the embodiment of FIG. 1 in that it includes a detection unit 30. Other aspects may be the same as the embodiment of FIG. 1. For example, detection unit 30 includes a camera that captures an image of the ejection direction of unmanned aerial vehicle 100. Detection unit 30 may include a camera that captures an image of unmanned aerial vehicle 100 in any direction.

[0068] 6A shows an example of detection by the detection unit 30. The detection unit 30 in this example includes a thermal infrared camera 32.

[0069] The thermal infrared camera 32 may detect the temperature of the imaged object. The thermal infrared camera 32 may also detect that the temperature of the liquid has decreased or increased and remained constant. For example, when the solvent in the liquid evaporates, the temperature of the liquid decreases due to the heat of vaporization during evaporation. In this case, the detection unit 30 may detect that the temperature of the liquid has stabilized and thus detect that the liquid has changed. As another example, when a chemical reaction occurs upon application of the liquid, the liquid generates heat due to the heat of reaction during the reaction. In this case, the detection unit 30 may detect that the heat generation has subsided and thus detect that the liquid has changed. However, the detection object of the thermal infrared camera 32 and the detection method using the thermal infrared camera 32 are not limited to these.

[0070] 6B shows an example of detection by the detection unit 30. The detection unit 30 in this example includes a visible light camera 34.

[0071] The visible light camera 34 may detect the color of the imaged object. For example, if the color of a liquid changes when the liquid deteriorates, the detection unit 30 may detect the change in the color of the liquid to detect that the liquid has changed. As another example, the detection unit 30 may detect a change in the gloss of the surface of the liquid to detect that the liquid has changed. The visible light camera 34 may also detect that the color change has remained constant. However, the detection object of the visible light camera 34 and the detection method using the visible light camera 34 are not limited to these.

[0072] 7 shows an example of the operation of first unmanned aerial vehicle 100-1. The application method of this example includes step S105 of detecting application target 600 before applying first liquid material 102 and calculating the amount of first liquid material 102 to be applied.

[0073] First unmanned aerial vehicle 100-1 may include a detection unit 30. First unmanned aerial vehicle 100-1 may detect coating target 600 using detection unit 30. For example, detection unit 30 included in first unmanned aerial vehicle 100-1 detects information relating to the shape of coating target 600, such as the volume of coating target 600, the surface area of ​​coating target 600, or the area of ​​coating target 600 as viewed from the coating direction. The coating method may calculate the amount of first liquid material 102 to be applied based on the detected shape of coating target 600.

[0074] The coating method may calculate the amount of first liquid material 102 to be applied by referencing predetermined reference data that indicates a correspondence between the detected size of coating target 600 and the amount to be applied. For example, in step S105, the coating method may detect coating target 600a and calculate the amount of application corresponding to the size of coating target 600a based on the reference data. Similarly, in step S105, the coating method may detect coating target 600b and calculate the amount of application corresponding to the size of coating target 600b based on the reference data. In step S110, the coating method may apply the calculated amounts of first liquid material 102 to coating target 600a and coating target 600b, respectively. First unmanned aerial vehicle 100-1 may store the reference data in a storage unit or may access reference data stored in an external server or the like.

[0075] The application method may calculate the application amount of first liquid material 102 based on feedback regarding the application amount of first liquid material 102. For example, first unmanned aerial vehicle 100-1 detects whether the application amount of first liquid material 102 applied in step S110 was too much or too little for application target 600. If the application amount of first liquid material 102 is too much for application target 600, first unmanned aerial vehicle 100-1 may provide feedback so that the application amount is calculated to be less in step S105, which is executed subsequently. If the application amount of first liquid material 102 is too little for application target 600, first unmanned aerial vehicle 100-1 may provide feedback so that the application amount is calculated to be more in step S105, which is executed subsequently. First unmanned aerial vehicle 100-1 may update the reference data as feedback on the application amount.

[0076] The application method may detect a plurality of application targets 600 and calculate the application amount of the first liquid material 102 by comparing the sizes of the plurality of application targets 600. For example, the application target 600a is smaller than the application target 600b. Therefore, in this example, the application amount of the first liquid material 102 to be applied to the application target 600a may be calculated to be less than the application amount of the first liquid material 102 to be applied to the application target 600b.

[0077] First unmanned aerial vehicle 100-1 may be controlled by the pilot of first unmanned aerial vehicle 100-1 or may be automatically controlled so as to apply the calculated application amount of first liquid material 102. Whether the amount of first liquid material 102 applied by first unmanned aerial vehicle 100-1 has reached the calculated application amount may be detected by first unmanned aerial vehicle 100-1 or by second unmanned aerial vehicle 100-2. For example, second unmanned aerial vehicle 100-2 may capture an image of first unmanned aerial vehicle 100-1 applying the liquid using a camera and detect the amount of first liquid material 102 applied by first unmanned aerial vehicle 100-1.

[0078] In the application method of this example, the application target 600 is detected before the first liquid material 102 is applied, and the application amount of the first liquid material 102 is calculated. As a result, the application method of this example can apply an amount appropriate to the application target 600, thereby preventing waste due to an excessive amount of application and / or problems in application due to an insufficient amount of application.

[0079] 8 shows an example of the operation of the second unmanned aerial vehicle 100-2. When the area of ​​the first liquid material 102 onto which the downwash 104 is applied is large, the second unmanned aerial vehicle 100-2 may apply the downwash 104 evenly while moving. For example, the second unmanned aerial vehicle 100-2 detects the first liquid material 102 using the detection unit 30, and applies the downwash 104 while moving so as to apply the downwash 104 evenly to the detected first liquid material 102.

[0080] 9A shows an example of the operation of the second unmanned aerial vehicle 100-2. In the application method of this example, in step S122, the second unmanned aerial vehicle 100-2 detects a change in the first liquid material 102 using the detection unit 30 of the second unmanned aerial vehicle 100-2. For example, the second unmanned aerial vehicle 100-2 may have a thermal infrared camera 32 as the detection unit 30, and step S122 of detecting a change in the first liquid material 102 may include detecting the change in the first liquid material 102 using the thermal infrared camera 32 that the second unmanned aerial vehicle 100-2 has as the detection unit 30. Furthermore, the second unmanned aerial vehicle 100-2 may have a visible light camera 34 as the detection unit 30, and step S122 of detecting a change in the first liquid material 102 may include detecting the change in the first liquid material 102 using the visible light camera 34 that the second unmanned aerial vehicle 100-2 has as the detection unit 30. However, the means and method for detecting changes in first liquid material 102 by second unmanned aerial vehicle 100-2 are not limited to these.

[0081] In this example, the application method moves the second unmanned aerial vehicle 100-2 in step S124 in response to the change in the state of the first liquid material 102 detected by the detection unit 30. For example, the application method applies the downwash 104 of the second unmanned aerial vehicle 100-2 to the first liquid material 102, and in response to the change in the first liquid material 102, moves the second unmanned aerial vehicle 100-2 to a position of the first liquid material 102 that has not yet been applied with the downwash 104 and remains unchanged. The change in the state of the first liquid material 102 may be determined by comparing the time the downwash 104 is applied to the first liquid material 102 with a predetermined condition. For example, the application method moves the second unmanned aerial vehicle 100-2 when the time the downwash 104 is applied to the first liquid material 102 exceeds a predetermined reference time.

[0082] 9B shows an example of the operation of second unmanned aerial vehicle 100-2. In response to the first liquid material 102 not changing, the application method may move second unmanned aerial vehicle 100-2 closer to first liquid material 102 to further promote the change of first liquid material 102. For example, the application method moves second unmanned aerial vehicle 100-2 closer to first liquid material 102 when the time that downwash 104 is applied to first liquid material 102 exceeds a predetermined reference time and the first liquid material 102 has not changed. In this example, in response to the determination in step S122 that first liquid material 102 has not changed, the application method moves second unmanned aerial vehicle 100-2 from height H1 to height H2 in step S124.

[0083] 10 shows an example of the flow of the application method. In step S126, the application method of this example calculates the application amount of the second liquid material 106 in accordance with the change in the state of the first liquid material 102 detected by the detection unit 30 of the second unmanned aerial vehicle 100-2. The application method may calculate the application amount of the second liquid material 106 in accordance with the rate of change of the first liquid material 102. For example, if the environmental temperature is high and the rate of change of the first liquid material 102 is fast, the application amount of the second liquid material 106 may be calculated to be large. If the environmental temperature is low and the rate of change of the first liquid material 102 is slow, the application amount of the second liquid material 106 may be calculated to be small.

[0084] The coating method may include a step of detecting the coating target 600 and / or the first liquid material 102 before coating the second liquid material 106 and calculating the amount of the second liquid material 106 to be applied. That is, the coating method may calculate the amount of the second liquid material 106 to be applied in accordance with the coating target 600 and / or the first liquid material 102, in addition to or instead of the change in the state of the first liquid material 102. For example, the detection unit 30 detects information regarding the shape of the coating target 600 and / or the first liquid material 102, such as the volume of the coating target 600 and / or the first liquid material 102, the surface area of ​​the coating target 600 and / or the first liquid material 102, or the area of ​​the coating target 600 and / or the first liquid material 102 as viewed from the coating direction. The coating method may calculate the amount of the second liquid material 106 to be applied based on the detected shape of the coating target 600 and / or the first liquid material 102. The detection unit 30 may be a detection unit 30 possessed by the second unmanned aerial vehicle 100-2, or may be a detection unit 30 possessed by the third unmanned aerial vehicle 100-3.

[0085] 11 shows an example of the operation of the second unmanned aerial vehicle 100-2. In the application method of this example, in step S128, the permission information acquisition unit 120 possessed by the second unmanned aerial vehicle 100-2 outputs permission information that permits application of the second liquid material 106 in accordance with a change in the state of the first liquid material 102. The permission information acquisition unit 120 of the second unmanned aerial vehicle 100-2 may output the permission information to another component of the second unmanned aerial vehicle 100-2, to another unmanned aerial vehicle 100 (e.g., the third unmanned aerial vehicle 100-3), or to a display device possessed by a user (e.g., the pilot of the second unmanned aerial vehicle 100-2 and / or the pilot of the third unmanned aerial vehicle 100-3). In this example, the second unmanned aerial vehicle 100-2 detects a change in the first liquid material 102, and upon obtaining permission information permitting the application of the second liquid material 106, wirelessly transmits the permission information permitting the application of the second liquid material 106 to the user.

[0086] The second unmanned aerial vehicle 100-2 may transmit a transformation completion schedule for when the transformation of the first liquid material 102 will be completed to the third unmanned aerial vehicle 100-3. The third unmanned aerial vehicle 100-3 may receive the transformation completion schedule from the second unmanned aerial vehicle 100-2 and begin moving based on the distance from its current location to the application position. For example, the second unmanned aerial vehicle 100-2 may transmit the transformation completion schedule prior to outputting the permission information, and the third unmanned aerial vehicle 100-3 may receive the transformation completion schedule and begin moving, so that the second unmanned aerial vehicle 100-2 outputs the permission information and the third unmanned aerial vehicle 100-3 may begin applying the second liquid material 106.

[0087] The second unmanned aerial vehicle 100-2 may estimate the estimated time of completion of the alteration. When the first unmanned aerial vehicle 100-1 applies the first liquid material 102 to multiple locations, the second unmanned aerial vehicle 100-2 may estimate the estimated time of completion of the alteration based on information about a first liquid material 102 other than the first liquid material 102 for which the estimated time of completion of the alteration is being estimated. The third unmanned aerial vehicle 100-3 may start moving so as to complete the movement by the estimated time of completion of the alteration. Furthermore, the application method may predict the completion of the alteration of the second liquid material 106 based on information about the first liquid material 102.

[0088] The application method may include a step of outputting various permission information related to the operation of the unmanned aerial vehicle 100 acquired by the permission information acquisition unit 120. For example, the permission information acquisition unit 120 of the first unmanned aerial vehicle 100-1 may acquire permission information permitting the application of the first liquid material 102 and transmit the permission information to a user. The permission information acquisition unit 120 of the first unmanned aerial vehicle 100-1 may acquire permission information permitting the second unmanned aerial vehicle 100-2 to start hovering and transmit the permission information to the second unmanned aerial vehicle 100-2 and / or the user. The permission information acquisition unit 120 of the second unmanned aerial vehicle 100-2 may acquire permission information permitting the second unmanned aerial vehicle 100-2 to end hovering and transmit the permission information to a user. However, the permission information output by the permission information acquisition unit 120 and its output destination are not limited to these.

[0089] 12 shows a modified example of the flow of the application method. The application method of this example includes step S140 of directing downwash 104 of unmanned aerial vehicle 100 having rotors 21 onto second liquid material 106 from a position higher than the applied second liquid material 106 to promote a change in second liquid material 106, and step S150 of applying a predetermined third liquid material 108 from unmanned aerial vehicle 100 to the changed second liquid material 106.

[0090] In this way, the application method may repeatedly include a step of applying downwash to promote the change of the liquid material and a step of applying a predetermined liquid material to the changed liquid material. In this example, the step of applying downwash and the step of applying a liquid material are repeated twice, but the number of repetitions is not limited to this. The application method may repeat the step of applying downwash and the step of applying a liquid material three or more times. For example, if the application target 600 is a hole in the structure 650, the application method may repeat the step of applying downwash and the step of applying a liquid material until the hole is completely sealed. In this case, the second liquid material 106 and the third liquid material 108 may be the same liquid material.

[0091] As described in relation to the change in the first liquid material 102, the application method may include a step of detecting a change in the second liquid material 106 using the detection unit 30. The application method may also include a step of moving the unmanned aerial vehicle 100 in accordance with the change in the state of the second liquid material 106 detected by the detection unit 30, a step of calculating an application amount of the third liquid material 108 in accordance with the change in the state of the second liquid material 106 detected by the detection unit 30, and a step of outputting permission information from the permission information acquisition unit 120 that permits application of the third liquid material 108 in accordance with the change in the state of the second liquid material 106. The same applies to the third liquid material 108 and to liquid materials applied after the third liquid material 108 in the repeated cycle of applying downwash and applying liquid materials.

[0092] Various embodiments of the present invention may be described with reference to flowcharts and block diagrams, where the blocks may represent (1) stages of a process in which operations are performed or (2) sections of apparatus responsible for performing the operations. Particular stages and sections may be implemented by dedicated circuitry, programmable circuitry provided with computer-readable instructions stored on a computer-readable medium, and / or a processor provided with computer-readable instructions stored on a computer-readable medium. Dedicated circuitry may include digital and / or analog hardware circuitry, and may include integrated circuits (ICs) and / or discrete circuits. Programmable circuitry may include reconfigurable hardware circuitry including logical AND, OR, XOR, NAND, NOR, and other logic operations, flip-flops, registers, memory elements such as field programmable gate arrays (FPGAs), programmable logic arrays (PLAs), and the like.

[0093] A computer-readable medium may include any tangible device capable of storing instructions that are executed by an appropriate device, such that the computer-readable medium having instructions stored thereon comprises an article of manufacture containing instructions that can be executed to create means for performing the operations specified in the flowcharts or block diagrams. Examples of computer-readable media may include electronic, magnetic, optical, electromagnetic, and semiconductor storage media. More specific examples of computer-readable media may include floppy disks, diskettes, hard disks, random access memories (RAMs), read-only memories (ROMs), erasable programmable read-only memories (EPROMs or flash memories), electrically erasable programmable read-only memories (EEPROMs), static random access memories (SRAMs), compact disc read-only memories (CD-ROMs), digital versatile discs (DVDs), Blu-ray (RTM) discs, memory sticks, integrated circuit cards, and the like.

[0094] The computer readable instructions may include either assembler instructions, Instruction Set Architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state-setting data, or source or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk®, JAVA®, C++, etc., and conventional procedural programming languages ​​such as the “C” programming language or similar programming languages.

[0095] The computer-readable instructions may be provided to a processor or programmable circuit of a programmable data processing device, such as a computer, locally or via a wide area network (WAN) such as a local area network (LAN) or the Internet, and the computer-readable instructions may be executed to create means for performing the operations specified in the flowcharts or block diagrams. Here, the computer may be a personal computer (PC), a tablet computer, a smartphone, a workstation, a server computer, a general-purpose computer, a special-purpose computer, or the like, or may be a computer system in which multiple computers are connected. Such a computer system in which multiple computers are connected is also called a distributed computing system, and is a broad definition of computer. In a distributed computing system, the multiple computers collectively execute a program by each executing a portion of the program and passing data between the computers as needed during program execution.

[0096] Examples of processors include computer processors, central processing units (CPUs), processing units, microprocessors, digital signal processors, controllers, microcontrollers, etc. A computer may have one processor or multiple processors. In a multiprocessor system with multiple processors, each processor executes a portion of a program and passes data between processors as needed during program execution, allowing the multiple processors to collectively execute the program. For example, in multitasking, each of the multiple processors may execute a portion of each task in small chunks by switching tasks at each time slice. In this case, which portion of a program each processor executes changes dynamically. Which portion of a program each of the multiple processors executes may also be statically determined by multiprocessor-aware programming.

[0097] 13 shows an example of a computer 1000 in which aspects of the present invention may be embodied, in whole or in part. Programs installed on the computer 1000 may cause the computer 1000 to function as or perform operations associated with an apparatus or one or more sections of the apparatus according to embodiments of the present invention, and / or to perform a process or steps of a process according to embodiments of the present invention. Such programs may be executed by the CPU 1012 to cause the computer 1000 to perform specific operations associated with some or all of the blocks in the flowcharts and block diagrams described herein.

[0098] The computer 1000 according to this embodiment includes a CPU 1012, a RAM 1014, a graphics controller 1016, and a display device 1018, which are interconnected by a host controller 1010. The computer 1000 also includes input / output units such as a communication interface 1022, a hard disk drive 1024, a DVD-ROM drive 1026, and an IC card drive, which are connected to the host controller 1010 via an input / output controller 1020. The computer 1000 also includes legacy input / output units such as a ROM 1030 and a keyboard 1042, which are connected to the input / output controller 1020 via an input / output chip 1040.

[0099] The CPU 1012 operates according to programs stored in the ROM 1030 and RAM 1014, thereby controlling each unit. The graphics controller 1016 acquires image data generated by the CPU 1012 into a frame buffer or the like provided in the RAM 1014 or into the graphics controller 1016 itself, and causes the image data to be displayed on the display device 1018.

[0100] The communication interface 1022 communicates with other electronic devices via a network. The hard disk drive 1024 stores programs and data used by the CPU 1012 in the computer 1000. The DVD-ROM drive 1026 reads programs or data from a DVD-ROM 1027 and provides the programs or data to the hard disk drive 1024 via the RAM 1014. The IC card drive reads programs and data from an IC card and / or writes programs and data to an IC card.

[0101] The ROM 1030 stores therein a boot program or the like that is executed by the computer 1000 upon activation, and / or programs that depend on the hardware of the computer 1000. The input / output chip 1040 may also connect various input / output units to the input / output controller 1020 via a parallel port, a serial port, a keyboard port, a mouse port, etc.

[0102] The programs are provided by a computer-readable medium such as a DVD-ROM 1027 or an IC card. The programs are read from the computer-readable medium, installed in the hard disk drive 1024, RAM 1014, or ROM 1030, which are also examples of computer-readable media, and executed by the CPU 1012. Information processing described in these programs is read by the computer 1000, and brings about cooperation between the programs and the various types of hardware resources described above. An apparatus or method may be configured by implementing information manipulation or processing in accordance with the use of the computer 1000.

[0103] For example, when communication is performed between computer 1000 and an external device, CPU 1012 may execute a communication program loaded into RAM 1014 and instruct communication interface 1022 to perform communication processing based on the processing described in the communication program. Under the control of CPU 1012, communication interface 1022 reads transmission data stored in a transmission buffer processing area provided in RAM 1014, hard disk drive 1024, DVD-ROM 1027, or a recording medium such as an IC card, and transmits the read transmission data to the network, or writes received data received from the network to a reception buffer processing area or the like provided on the recording medium.

[0104] The CPU 1012 may also read all or a necessary portion of a file or database stored on an external recording medium such as a hard disk drive 1024, a DVD-ROM drive 1026 (DVD-ROM 1027), an IC card, etc. into the RAM 1014, and perform various types of processing on the data on the RAM 1014. The CPU 1012 then writes back the processed data to the external recording medium.

[0105] Various types of information, such as various types of programs, data, tables, and databases, may be stored on the recording medium and may undergo information processing. The CPU 1012 may perform various types of processing on data read from the RAM 1014, including various types of operations, information processing, conditional judgment, conditional branching, unconditional branching, information search / replacement, etc., as described throughout this disclosure and specified by the instruction sequences of the programs, and write the results back to the RAM 1014. The CPU 1012 may also search for information in a file, database, etc. on the recording medium. For example, if multiple entries each having an attribute value of a first attribute associated with an attribute value of a second attribute are stored on the recording medium, the CPU 1012 may search for an entry that matches a condition specified by the attribute value of the first attribute from among the multiple entries, read the attribute value of the second attribute stored in the entry, and thereby obtain the attribute value of the second attribute associated with the first attribute that satisfies a predetermined condition.

[0106] The above-described programs or software modules may be stored in a computer-readable medium on or near the computer 1000. A recording medium such as a hard disk or RAM provided in a server system connected to a dedicated communication network or the Internet can also be used as a computer-readable medium, thereby providing the programs to the computer 1000 via the network.

[0107] Although the present invention has been described above using embodiments, the technical scope of the present invention is not limited to the scope described in the above embodiments. It will be apparent to those skilled in the art that various modifications and improvements can be made to the above embodiments. It is clear from the claims that such modifications and improvements can also be included within the technical scope of the present invention.

[0108] It should be noted that the order of execution of each process, such as operations, procedures, steps, and stages, in the devices, systems, programs, and methods shown in the claims, specifications, and drawings is not specifically stated as "before," "prior to," etc., and that the processes can be performed in any order unless the output of a previous process is used in a subsequent process. Even if the operational flow in the claims, specifications, and drawings is described using "first," "next," etc. for convenience, this does not mean that the processes must be performed in this order.

[0109] 10...Main body, 15...Leg, 20...Propulsion unit, 21...Rotor, 22...Rotation drive unit, 24...Arm, 30...Detection unit, 32...Thermal infrared camera, 34...Visible light camera, 40...Container holding unit, 50...Discharge unit, 100...Unmanned aerial vehicle, 100-1...First unmanned aerial vehicle, 100-2...Second unmanned aerial vehicle, 100-3...Third unmanned aerial vehicle, 102...First liquid material, 104...Downwash, 106...Second liquid material, 108...Third liquid material, 110...Flight control unit, 120...Permission information acquisition unit, 600... Coating object, 650... structure, 652... substrate, 654... coating film, 1000... computer, 1010... host controller, 1012... CPU, 1014... RAM, 1016... graphics controller, 1018... display device, 1020... input / output controller, 1022... communication interface, 1024... hard disk drive, 1026... DVD-ROM drive, 1027... DVD-ROM, 1030... ROM, 1040... input / output chip, 1042... keyboard

Claims

1. A method for applying a liquid material using an unmanned aerial vehicle, comprising the steps of: applying a predetermined first liquid material to a target from a first unmanned aerial vehicle; directing the downwash of a second unmanned aerial vehicle having rotors onto the first liquid material from a position higher than the applied first liquid material, thereby promoting a change in the first liquid material; and applying a predetermined second liquid material from a third unmanned aerial vehicle to the changed first liquid material.

2. The coating method described in claim 1, wherein at least two of the first unmanned aerial vehicle, the second unmanned aerial vehicle or the third unmanned aerial vehicle are the same unmanned aerial vehicle.

3. The coating method described in claim 1, wherein the first unmanned aerial vehicle, the second unmanned aerial vehicle and the third unmanned aerial vehicle are the same unmanned aerial vehicle.

4. The coating method according to claim 1, wherein the second liquid material is the same liquid material as the first liquid material.

5. A coating method described in any one of claims 1 to 4, comprising a step of detecting a change in the first liquid material using a detection unit possessed by the second unmanned aerial vehicle.

6. The coating method described in claim 5, further comprising a step of moving the second unmanned aerial vehicle in accordance with the change in state of the first liquid material detected by the detection unit.

7. The coating method described in claim 5, wherein the step of detecting a change in the first liquid material includes a step of detecting a change in the first liquid material using a thermal infrared camera that the second unmanned aerial vehicle has as the detection unit.

8. The coating method described in claim 5, wherein the step of detecting a change in the first liquid material includes a step of detecting a change in the first liquid material using a visible light camera that the second unmanned aerial vehicle has as the detection unit.

9. The application method described in claim 5, further comprising a step of calculating an application amount of the second liquid material in accordance with a change in the state of the first liquid material detected by the detection unit of the second unmanned aerial vehicle.

10. An application method described in any one of claims 1 to 4, comprising a step of outputting permission information from a permission information acquisition unit possessed by the second unmanned aerial vehicle, the permission information permitting application of the second liquid material in accordance with a changing state of the first liquid material.

11. A coating method according to any one of claims 1 to 4, further comprising a step of detecting the coating target before coating the first liquid material, and calculating an amount of the first liquid material to be applied.

12. A coating method as described in any one of claims 1 to 4, wherein the object to be coated is located at the top of a structure, and the step of applying the first liquid material to the object to be coated comprises the steps of: moving the first unmanned aerial vehicle to a position higher than the object to be coated; and applying the first liquid material from the first unmanned aerial vehicle from a position higher than the object to be coated.

13. A program which, when executed by a computer, causes a first unmanned aerial vehicle to apply a predetermined first liquid material to a target object; causes a second unmanned aerial vehicle having rotors to direct the downwash of the second unmanned aerial vehicle onto the first liquid material from a position higher than the applied first liquid material, thereby promoting the transformation of the first liquid material; and causes a third unmanned aerial vehicle to apply a predetermined second liquid material to the transformed first liquid material.

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