The embodiment of the invention discloses a rust spot laser cleaning method and device for unmanned aerial vehicle, and the unmanned aerial vehicle. The method comprises the steps of obtaining a precise rust spot image, and determining the plane coordinates of a rust spot according to the precise rust spot image; determining whether the rust spot is within the moving range of a movable platform ornot according to the plane coordinates, and controlling a motor to move the laser gun if the rust spot is within the moving range of the movable platform; determining a flight route according to therelationship between the size of the rust spot and the maximum position of the movable platform if the rust spot is beyond the moving range of the movable platform; and regulating the position of thelaser gun according to the flight path and the flight condition of the unmanned aerial vehicle in the flight process, and achieving laser cleaning of the rust spot.
本发明实施例公开了一种无人机激光清洗锈斑方法、装置及无人机,其中,所述方法包括:获取精准锈斑图像,根据所述精准锈斑图像确定锈斑的平面坐标;根据所述平面坐标确定是否在移动平台移动范围内,在移动平台移动范围内时,控制电机移动激光枪;在超出移动平台移动范围时,根据锈斑大小和移动平台的最大位置关系确定飞行路线;按照飞行路线在飞行过程中根据无人机飞行情况对激光枪的位置进行调整,实现对锈斑进行激光清洗。
Rust spot laser cleaning method and device for unmanned aerial vehicle, and unmanned aerial vehicle
无人机激光清洗锈斑方法、装置及无人机
2020-12-18
Patent
Electronic Resource
Chinese
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