PaintCopter: An Autonomous UAV for Spray Painting on Three-Dimensional Surfaces
PaintCopter: An Autonomous UAV for Spray Painting on Three-Dimensional Surfaces
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PaintCopter：用于三维表面喷涂的自主无人机
DOI：
10.1109/lra.2018.2846278
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发表时间：
2018
影响因子：
5.2
通讯作者：
P. Beardsley
中科院分区：
文献类型：
--
作者：
Anurag Sai Vempati;Mina Kamel;N. Stilinovic;Qixuan Zhang;D. Reusser;Inkyu Sa;Juan I. Nieto;R. Siegwart;P. Beardsley
这封信描述了一种使用无人驾驶飞行器（UAV）的自动喷漆系统，适用于工业应用。这项工作的动机是这样一个系统，以实现准确和快速的绘画效果的潜力。PaintCopter是一款四旋翼直升机，在云台机构上安装了一个手臂和一个喷枪。为了延长工业涂装任务的部署时间，电力和涂料通过外部设备的线路输送。喷涂平面表面（例如单色墙壁）的能力是喷涂系统的基本要求。但这项工作解决了更复杂的操作，包括基本任务，包括在三维（3D）结构上绘画，以及绘制所需的纹理外观。系统操作包括（a）用于捕获目标表面的3D模型的离线组件，（B）用于设计喷涂表面外观并生成相关机器人喷涂命令的离线组件，以及（c）执行喷涂的实时系统。实验结果表明无人机自主喷漆，在3D表面上进行区域填充和多功能线条绘画。
This letter describes a system for autonomous spray painting using an unmanned aerial vehicle (UAV), suitable for industrial applications. The work is motivated by the potential for such a system to achieve accurate and fast painting results. The PaintCopter is a quadrotor that has been custom fitted with an arm plus a spray gun on a pan-tilt mechanism. To enable long deployment times for industrial painting tasks, power and paint are delivered by lines from an external unit. The ability to paint planar surfaces, such as walls in single color, is a basic requirement for a spray painting system. But this work addresses more sophisticated operation that subsumes the basic task, including painting on three-dimensional (3D) structure, and painting of a desired texture appearance. System operation consists of (a) an offline component to capture a 3D model of the target surface, (b) an offline component to design the painted surface appearance and generate the associated robotic painting commands, and (c) a live system that carries out the spray painting. Experimental results demonstrate autonomous spray painting by the UAV, doing area fill and versatile line painting on a 3D surface.