Indoor and outdoor aerial vehicles for painting and related applications

• US 10,399,676 B2
• Filed: 03/31/2015
• Issued: 09/03/2019
• Est. Priority Date: 03/31/2014
• Status: Active Grant

• Current Assignee: Working Drones, Inc.
• Original Assignee: Working Drones, Inc.
• Inventors: Dahlstrom, Robert L.
• Primary Examiner(s): Valvis, Alexander M
• Assistant Examiner(s): Zhou, Qingzhang
• Application Number:
  US14/674,524
• Publication Number:
  US 20150274294A1
• Time in Patent Office: 1,617 Days
• Field of Search: 239171, 239 69, 169 52
• CPC Class Codes: A46B 2200/202 Applicator paint brush
• CPC Class Codes: B05B 13/005 mounted on vehicles or designed to apply a liquid on a very large surface, e.g. on the road, on the surface of large containers
• CPC Class Codes: B05B 13/0278 Arrangement or mounting of spray heads B05B13/0207 takes precedence
• CPC Class Codes: B05B 9/0403 with pumps for liquids or other fluent material B05B9/043 takes precedence
• CPC Class Codes: B64D 1/18 by spraying, e.g. insecticides spraying apparatus per se B05B
• CPC Class Codes: B64U 10/13 Flying platforms
• CPC Class Codes: B64U 2101/00 UAVs specially adapted for particular uses or applications
• CPC Class Codes: B64U 2101/28 for painting or marking
• CPC Class Codes: E04G 23/002 Arrangements for cleaning building facades

Abstract

An aerial operations system for performing various tasks such as painting is provided. The modular aerial operations system includes an aerial vehicle capable of vertically taking off and landing, hovering and precisely maneuvering near walls and other structures. The aerial vehicle may be a rotorcraft such as a multicopter. In an aspect, as aerial vehicle paints one or more designated surfaces using detachable arms and equipment. The system may paint the designated surface in one of several available techniques using paint provided in a container such as an attached reservoir, a base station, a paint can, or the like. The aerial operations system provided may also be configured to perform a variety of other tasks.

Claims

1. An aerial operations system, comprising:

an unmanned aerial vehicle comprising a sprayer comprising a spray nozzle to spray a paint;

a base station comprising a sprayable material supply and a power supply;

a tether interconnecting the unmanned aerial vehicle and the base station, the tether providing the aerial vehicle with power from the power supply and a sprayable material from the sprayable material supply wherein the sprayable material comprises the paint;

at least one sensor on the unmanned aerial vehicle to sense a surface of a structure to be painted; and

a command and control system, in response to inputs from the at least one sensor, to pilot the unmanned aerial vehicle to an attitude, altitude and a position along a flight path relative to the surface for spraying the paint on the surface through the spray nozzle, the spray nozzle being positioned relative to the surface to apply the paint from a calculated distance being calculated based on wind speed and at least one of spray material viscosity and desired thickness of the paint and wherein the command and control system to position and at least one of extend, adjust orientation of and retract the spray nozzle to apply the paint to the surface.

2. The aerial operations system of claim 1, wherein the unmanned aerial vehicle is a multi-rotor rotorcraft.

3. The aerial operations system of claim 1, wherein the surface is one of an interior wall, an exterior wall shutters, a bridge or a tower.

4. The aerial operations system of claim 1, wherein the sprayable material supply is a reservoir.

5. The aerial operations system of claim 1, wherein the unmanned aerial vehicle being configured to access a manufacturer'"'"'s information related to the paint, wherein the information includes the viscosity.

6. The aerial operations system of claim 1, wherein the base station further comprises a secondary fluid supply configured to mix with the sprayable material.

7. The aerial operations system of claim 6, wherein the secondary fluid is one of:

a soap, a liquid adhesive, a binder, or a paint thinner.

8. The aerial operations system of claim 1, the unmanned aerial vehicle further comprising:

an onboard backup power source.

9. The aerial operations system of claim 1, the unmanned aerial vehicle further comprising:

an onboard sprayable material reservoir.

10. The aerial operations system of claim 9, wherein the onboard sprayable material reservoir is detachable from the unmanned aerial vehicle.

11. The aerial operations system of claim 1, wherein the tether comprises a wired connection between the command and control system and the unmanned aerial vehicle and wherein the command and control system controls the unmanned aerial vehicle.

12. The aerial operations system of claim 1, wherein the base station comprises the command and control system, the command and control system controls the unmanned aerial vehicle.

13. The aerial operations system of claim 12, wherein the command and control system comprises a wireless communications transceiver configured to communicate with the unmanned aerial vehicle and a user input device.

14. The aerial operations system of claim 1, wherein the flight path is a raster flight pattern or other flight pattern to apply the paint to the surface.

15. The aerial operations system of claim 1, the unmanned aerial vehicle further comprising a paint application sensor configured to detect a material application quantity applied to the structure.

16. The aerial operations system of claim 15, further comprising an environmental sensor communicatively connected to the command and control system.

17. The aerial operations system of claim 1, wherein the sprayer is connected for controllable movement to the unmanned aerial vehicle.

18. The aerial operations system of claim 1, further comprising an add-on for selective attachment to the unmanned aerial vehicle to create effects within the paint including one of a rag wipe effect, a sponge effect, and stiff bristle.

19. The aerial operations system of claim 1, further comprising a mount positioned between the sprayer and an aerial vehicle body, configured for detaching the sprayer and attaching another add-on.

20. The aerial operations system of claim 19, wherein the mount being coupled to the tether which comprises fluid and electrical connections.

21. The aerial operations system of claim 19, comprising an accessory attachment point positioned on the mount on the aerial vehicle body and configured for attaching an add-on.

22. The aerial operations system of claim 1, further comprising a user input device configured to receive aerial vehicle commands.

23. The aerial operations system of claim 22, wherein the user input device wirelessly connects to the base station.

24. The aerial operations system of claim 22, wherein the user input device is integrated into the base station.

25. An aerial operations system, comprising:

an unmanned aerial vehicle comprising at least one accessory attachment point;

a plurality of add-on accessories releasably connected individually to the unmanned aerial vehicle at the at least one accessory attachment point, the plurality of add-on accessories comprises a first add-on accessory configured to physically interact with and make contact with a surface of a structure and a second add-on accessory being a paint sprayer comprising a sprayer nozzle to paint at least a portion of the structure;

at least one sensor on the unmanned aerial vehicle to sense the surface of the structure to create sensor inputs;

a base station comprising;

a command and control system controlling the unmanned aerial vehicle in response to the sensor inputs and a connected add-on accessory; and

a power supply; and

a tether interconnects the unmanned aerial vehicle and the base station, the tether providing the unmanned aerial vehicle with power from the power supply and provides communications from the command and control system to the unmanned aerial vehicle,

wherein the command and control system, in response to the inputs from the at least one sensor, pilots the unmanned aerial vehicle to an attitude, altitude and a position along a flight path relative to the surface for spraying the paint on the surface through the spray nozzle, when painting, the spray nozzle being positioned relative to the surface to apply the paint from a calculated distance being calculated based on wind speed and at least one of spray material viscosity and desired thickness of the paint and wherein the command and control system to position and at least one of extend, adjust orientation of and retract the spray nozzle to apply the paint to the surface.

26. The aerial operations system of claim 25, wherein the first add-on accessory is a washing device.

27. The aerial operations system of claim 26, the base station further comprising a water source, the tether configured to provide the water to the unmanned aerial vehicle.

28. The aerial operations system of claim 25, wherein the first add-on accessory is on of:

a brush, a movable scoop, an aerator, a drill, or a claw.