CN115195950A - Unmanned ship for paint spraying of ocean platform and control method thereof - Google Patents
Unmanned ship for paint spraying of ocean platform and control method thereof Download PDFInfo
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- CN115195950A CN115195950A CN202210899826.0A CN202210899826A CN115195950A CN 115195950 A CN115195950 A CN 115195950A CN 202210899826 A CN202210899826 A CN 202210899826A CN 115195950 A CN115195950 A CN 115195950A
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- 238000005507 spraying Methods 0.000 title claims abstract description 87
- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000001514 detection method Methods 0.000 claims abstract description 146
- 239000007921 spray Substances 0.000 claims abstract description 29
- 238000009792 diffusion process Methods 0.000 claims abstract description 4
- 238000010422 painting Methods 0.000 claims description 48
- 230000001681 protective effect Effects 0.000 claims description 46
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 25
- 238000004140 cleaning Methods 0.000 claims description 23
- 239000000443 aerosol Substances 0.000 claims description 10
- 230000002093 peripheral effect Effects 0.000 claims description 8
- 230000005855 radiation Effects 0.000 claims description 5
- 238000007592 spray painting technique Methods 0.000 claims description 3
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Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/08—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means
- B05B12/084—Arrangements for controlling delivery; Arrangements for controlling the spray area responsive to condition of liquid or other fluent material to be discharged, of ambient medium or of target ; responsive to condition of spray devices or of supply means, e.g. pipes, pumps or their drive means responsive to condition of liquid or other fluent material already sprayed on the target, e.g. coating thickness, weight or pattern
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B12/00—Arrangements for controlling delivery; Arrangements for controlling the spray area
- B05B12/16—Arrangements for controlling delivery; Arrangements for controlling the spray area for controlling the spray area
- B05B12/32—Shielding elements, i.e. elements preventing overspray from reaching areas other than the object to be sprayed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B13/00—Machines or plants for applying liquids or other fluent materials to surfaces of objects or other work by spraying, not covered by groups B05B1/00 - B05B11/00
- B05B13/02—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work
- B05B13/04—Means for supporting work; Arrangement or mounting of spray heads; Adaptation or arrangement of means for feeding work the spray heads being moved during spraying operation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05B—SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES
- B05B15/00—Details of spraying plant or spraying apparatus not otherwise provided for; Accessories
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
- B63B59/04—Preventing hull fouling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B59/00—Hull protection specially adapted for vessels; Cleaning devices specially adapted for vessels
- B63B59/06—Cleaning devices for hulls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
- B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
Abstract
The invention relates to the field of unmanned ships, and discloses an unmanned ship for paint spraying of an ocean platform and a control method thereof. This unmanned ship includes: the method comprises the following steps: a ship body and a paint spraying device. The ship body is provided with a control unit, and the control unit is used for receiving a control command of the remote monitoring center and controlling the navigation of the unmanned ship based on the control command. The paint spraying device is arranged on the ship body, is electrically connected with the control unit and is used for performing paint spraying treatment on the ocean platform equipment parts. The paint spraying device comprises a paint spraying structure and a paint thickness detection structure. The paint thickness detection structure comprises a detection assembly and a detection head protection assembly, wherein the detection head protection assembly is used for preventing the detection assembly from being polluted by paint diffusion when the paint is sprayed. The detection head protection assembly is arranged in the device, so that the shielding and pollution of the detection assembly caused by the fact that paint is diffused in the air when the unmanned ship sprays paint on the ocean platform can be avoided. The feasibility of the detection assembly during full-automatic work and the service life of the detection assembly can be further improved.
Description
Technical Field
The invention relates to the field of unmanned ships, in particular to an unmanned ship for painting an ocean platform and a control method thereof.
Background
The ocean platform is an artificial island which is used for drilling and oil production at sea for a long time, is operated in open sea areas far away from ports, is not provided with port facilities such as wave-proof dams and the like for carrying out cathode protection on the artificial island, is required to bear the actions of sea wind, sea waves and tide every day, and sometimes can be subjected to the attacks of storm wind, waves, ice floes and earthquakes. The platform tidal range area and the splash area are corroded seriously by wind waves and tidal currents, and the impact force acts on the structure to generate stress corrosion and corrosion fatigue damage.
The ocean platform is large in size and complex in structure. Except for semi-submersible platforms, ocean platforms extend from the sea bottom to high altitudes of more than tens of meters, and are corroded by not only sea atmosphere and seawater, but also seawater splash, tides and sea mud.
The corrosive environment of the ocean platform can be divided into an ocean atmosphere area, an immersion area and a splashing area, wherein the most severe corrosive environment is faced by the splashing area, and the corrosive environment comprises alternation of dryness and humidity, wave impact, strong UV irradiation, high salinity, high chloride ion concentration, floating ice, impact of marine sundries, growth of marine organisms and the like. Research shows that the steel corrosion thickness in the splashing area can reach up to 500 mu m per year.
Like a patent attachment cleaning device for platform, discloses an attachment cleaning device for platform, including lift platform and vestibule, be equipped with the first actuating mechanism that drive lift platform goes up and down on the platform, the platform lower extreme is equipped with direction lift platform's guiding mechanism, the vestibule rotates with the lift platform right side and is connected, the last running roller that is equipped with of lift platform, both sides all are equipped with first leading wheel around the upper end around the lift platform, and first wire rope on the running roller is connected with the vestibule after bypassing first leading wheel, is equipped with drive connecting rod pivoted second actuating mechanism on the lift platform, the platform lower extreme is equipped with supporting platform. The workman stands on lift platform, and first actuating mechanism drive lift platform and vestibule move down along guiding mechanism, and second actuating mechanism passes through running roller and wire rope drive vestibule level, and the workman can clear up adnexed marine life on lift platform and vestibule, prevents to drop in the sea, safe and reliable. The problem of platform attachment clearance has been solved to the patent, still need adopt manual operation, and the operating efficiency is low, and the human cost is high, and certain risk exists in the cleaning worker operation.
For example, the ROV-based underwater high-pressure water jet cleaning rotary spray gun discloses an ROV-based underwater high-pressure water jet cleaning rotary spray gun, which comprises a spray gun main body, wherein one side of the spray gun main body is provided with a flexible clamp, and the periphery of the spray gun main body is provided with an anti-collision protective cover; the flexible clamping comprises a clamping supporting block, a clamping fixing block and a clamping box body fixing block which are fixed on the spray gun body, a clamping supporting column is arranged on the clamping fixing block, a mechanical arm clamping block is arranged at the front end of the clamping supporting column, the clamping supporting column is arranged between the mechanical arm clamping block and the clamping fixing block, and a clamping buffer spring and a clamping supporting column circular ring are arranged at the position between the clamping fixing block and the clamping box body fixing block. Adding: the anti-collision protective cover comprises a connecting disc and a lower end supporting ring, the connecting disc and the lower end supporting ring are connected through a protective cover circular tube and a protective cover screw rod, and a protective length adjusting gasket is arranged. The spray gun main body comprises a spray gun, a spray gun rotating head and two high-pressure water jet nozzles, and the spray gun is connected with the hydraulic motor sequentially through a spray gun gear, a transmission gear and a motor gear. The cleaning agent has strong environmental adaptability and high working efficiency, and is suitable for cleaning marine organisms attached to underwater structures such as an ocean platform jacket, a ship shell, a pier and the like. The patent has solved the clearance problem of platform part under water, nevertheless can't carry out the maintenance of spraying paint to platform.
The intelligent sampling unmanned ship comprises a ship body, a navigation control system, a power system and an oil and water taking and removing device, wherein the oil and water taking and removing device comprises an oil taking device installed on the outer side of a cabin, an oil separating tank, a water suction pump and a water discharge pump installed in the cabin, the oil taking device is inserted into the sea surface, a liquid discharge pipe of the oil taking device penetrates into the cabin and is connected with a flow dividing pipe installed in the cabin, the flow dividing pipe is respectively connected with inlets of the water suction pumps through a multi-way branch pipe, outlets of the water suction pumps are respectively connected with inlets of the oil separating tank, outlets of the oil separating tank are respectively connected with inlets of the water discharge pumps, outlets of the water discharge pumps are commonly connected with a water discharge collecting pipe, the water discharge collecting pipe is connected with one end of a water discharge main pipe, and the other end of the water discharge main pipe leads to the outside of the ship cabin. The oil taking and dewatering device can improve the acquisition probability and the quantity of oily samples by continuously feeding liquid, separating oil and draining water. The problem of ocean oily floating film sample has been solved to the patent, but the patent still exists the problem that can't solve the protection of spraying paint to the platform.
Disclosure of Invention
The invention provides an unmanned ship for paint spraying of an ocean platform and a control method thereof, aiming at overcoming the defect that the prior art can not carry out full-automatic paint spraying maintenance on the ocean platform.
In order to solve the technical problems, the technical scheme of the invention is as follows:
an unmanned ship for painting an ocean platform, comprising: a ship body and a paint spraying device.
The ship body is provided with a control unit, and the control unit is used for receiving a control command of the remote monitoring center and controlling the navigation of the unmanned ship based on the control command.
And the paint spraying device is arranged on the ship body, is electrically connected with the control unit and is used for performing paint spraying treatment on the ocean platform equipment parts.
The paint spraying device comprises a paint spraying structure and a paint thickness detection structure. The paint thickness detection structure comprises a detection assembly and a detection head protection assembly, wherein the detection head protection assembly is used for preventing the detection assembly from being polluted by paint diffusion when the paint is sprayed.
Aiming at the problems that in the prior art, if only the paint spraying structure and the detection structure are arranged on the same carrier, and manual control and maintenance are not carried out, the paint is very easy to diffuse in the air due to the fact that the paint is in an aerosol shape when sprayed out, the detection structure is shielded and polluted, the paint is difficult to clean and remove due to the physical and chemical properties of the paint, and irreversible damage is easily caused to the detection structure. Therefore, the unmanned ship is innovatively designed, the detection assembly in the paint thickness detection structure is matched with the detection head protection assembly, so that the paint spraying treatment of the ocean platform is automatically performed, and meanwhile, the detection structure can be prevented from being affected.
Further, the painting structure includes: paint spraying head, paint box, spray painting pipe and aerial fog valve.
Furthermore, the paint spraying head is used for spraying paint to the equipment parts to be sprayed on the ocean platform.
Further, a paint tank is fixed to the hull for storing paint.
Further, one end of the paint spray pipe communicates with the paint spray head and the other end communicates with the paint tank.
Furthermore, the aerosol valve is arranged on the spray painting head and is electrically connected with the control unit.
The invention provides two design schemes of a protection component of a detection head, which are as follows:
the first design is as follows:
detect first protection subassembly includes: the accommodating chamber, the telescopic rod and the driving motor.
The accommodating chamber is provided with an opening end, the inner peripheral surface of the accommodating chamber is embedded with the outer peripheral surface of the detection assembly, at least part of the inner peripheral surface of the accommodating chamber is overlapped with the surface where the detection head of the detection assembly is located, and the accommodating chamber is used for accommodating the detection assembly.
The telescopic rod is arranged in the accommodating cavity and connected with one end, away from the opening end, of the detection assembly, and is used for driving the detection assembly to move along the axial direction of the accommodating cavity.
And the driving motor is arranged in the accommodating cavity, is connected with one end of the telescopic rod, which is far away from the detection assembly, and is electrically connected with the control unit for controlling the telescopic rod to drive the detection assembly to move.
In this design, be provided with the accommodation chamber among the first protection subassembly of detection, can supply to hold detection module to can realize stretching out or indentation accommodation chamber according to particular case control detection module in the in-process of the processing of spraying paint, thereby realize nimble protecting detection module, make it not polluted by the paint vehicle.
The second design is as follows:
detect first protection subassembly includes: protective cover, swing arm and rotating electrical machines.
The protective cover is matched with the shape of the detection head of the detection assembly.
The rotary rod is connected with the protective cover and used for controlling the protective cover to open and close.
The rotating motor is fixed on one side, close to the protective cover, of the peripheral surface of the detection assembly, connected with the rotating rod and electrically connected with the control unit, and is used for controlling the rotating rod to drive the protective cover to open and close.
In this design, the detection head of the detection assembly is protected by opening and closing the protective cover, the structure is simpler, the protected object is more clear, and the structural change is more flexible.
The invention provides two different design schemes for the protective cover, the first design scheme is that the direction of the axis of the rotating rod is perpendicular to the cover surface of the protective cover, the cover surface of the protective cover moves in a sliding mode relative to the plane of the detection head of the detection assembly, and when the sliding angles of the protective cover controlled by the rotating motor are different, the sizes of the areas exposed by the detection head are different.
The second is that the direction of the axis of the rotating rod is parallel to the cover surface of the protective cover, the cover surface of the protective cover moves in a turnover mode relative to the plane of the detection head of the detection assembly, and when the protective cover is controlled to turn over by using the rotating motor and needs to turn over to a certain degree, the detection head can be exposed.
Furthermore, the detection assembly is an infrared camera or a ray thickness gauge, is electrically connected with the control unit and is used for detecting the thickness of the paint vehicle during paint spraying.
The thickness of the paint vehicle after spraying is detected by utilizing the imaging principle of an infrared camera or the radiation principle of a ray thickness gauge in the design scheme, so that the uniform spraying is realized.
Further, the painting apparatus further includes: a drive structure.
Furthermore, one end of the driving structure is connected with the ship body, and the other end of the driving structure is respectively connected with the paint spraying structure and the paint thickness detecting structure and is electrically connected with the control unit for controlling the orientation of the paint spraying structure and the paint thickness detecting structure.
Further, unmanned ship still includes: a cleaning device.
Furthermore, the cleaning device is arranged on the ship body and is electrically connected with the control unit.
Furthermore, the cleaning device is any one of a high-pressure water gun or a high-pressure air gun or a combination of the two.
The invention also provides a control method of the unmanned ship for spraying paint on the ocean platform, which comprises the following steps:
s1: the unmanned ship is controlled to arrive at the ocean platform, the high-pressure water gun and/or the high-pressure air gun are/is started to clean the interferent on the ocean platform, after cleaning is finished, the high-pressure air gun is optionally opened to dry an area to be painted, and processing work before painting is carried out.
S2: and controlling the detection assembly to extend out of the accommodating cavity or opening the protective cover, and determining the area to be painted through a detection head of the detection assembly.
S3: and after the detection assembly is controlled to retract into the accommodating cavity or the protective cover is closed, the aerial fog valve of the paint spraying structure is opened, and meanwhile, the driving structure is controlled to enable the paint spraying structure to spray paint to a preset area to be painted.
S4: after the paint spraying is finished, the detection assembly is controlled to stretch out of the accommodating cavity or the protective cover is opened, and whether the paint spraying area is uniformly sprayed or not is detected. If so, the painting structure is closed. If not, performing secondary paint spraying until the detection result is uniform.
S5: and after the painting is finished, controlling the unmanned ship to sail to the next target ocean platform for painting again, and circularly repeating the steps 1-4.
Compared with the prior art, the technical scheme of the invention has the beneficial effects that:
1. the invention takes the unmanned ship as a carrier, the paint spraying device is arranged on the ship body, the air spraying device not only comprises a paint spraying structure in the traditional scheme, but also is provided with a paint thickness detection structure, the full-automatic paint spraying treatment on the ocean platform can be realized, the trouble of manual treatment is avoided, the workers do not need to go to the site of the ocean platform to perform paint spraying operation, the danger of the workers going out of the ocean on the ocean and the ocean platform can be reduced to the utmost extent, the manual paint spraying cost is saved, and the industrialized popularization and application can be realized.
2. The paint thickness detection structure is provided with the detection assembly and the detection head protection assembly, so that the shielding and pollution of the detection assembly caused by the fact that paint is diffused in the air when an unmanned ship receives a remote instruction to spray paint on an ocean platform can be avoided. The feasibility of the detection assembly during full-automatic work and the service life of the detection assembly can be further improved.
3. When the detection head protection assembly adopts a scheme that the accommodating chamber, the telescopic rod and the driving motor are matched, the detection head protection assembly can realize that paint is easy to splash and scatter when a paint spraying structure sprays paint, and the detection assembly is controlled to retract into the accommodating chamber to protect the detection head protection assembly from the influence of the paint spraying structure; when the structure that sprays paint stops spraying paint, steerable determine module stretches out outside the holding chamber, detects paint vehicle thickness to whether the test paint vehicle sprays evenly. Therefore, the detection assembly is protected from being polluted while full-automatic treatment is realized.
4. When the detection head protection assembly adopts the scheme that the protective cover, the rotary rod and the rotary motor are matched, the protective cover can be opened and closed according to different environmental conditions, so that the paint spraying structure and the paint thickness detection structure are matched with each other when the paint spraying structure is used for spraying paint, and the mutual influence cannot be caused.
5. The unmanned ship is also provided with a driving structure, so that the paint spraying structure can move in all directions more flexibly, the spraying area of paint is enlarged, and the spraying blind area is eliminated.
6. The invention is also provided with a cleaning device, so that the ocean platform can be pretreated before spraying paint, and interfering substances such as aquatic weeds, bird and bird secretions, dust and the like on the platform can be cleaned, thereby facilitating the paint to be uniformly and effectively sprayed to the corrosion area of the ocean platform.
Drawings
Fig. 1 is a schematic structural diagram of an unmanned ship provided by the invention;
fig. 2 is a schematic structural diagram of a protection assembly of a detection head according to embodiment 1 of the present invention;
fig. 3 is a schematic structural diagram of a protection assembly of a detection head according to embodiment 2 of the present invention;
fig. 4 is a schematic structural diagram of a protection assembly of a detection head according to embodiment 2 of the present invention;
wherein: 1-unmanned ship; 100-a hull; 101-a control unit; 200-a paint spraying device; 300-a cleaning device;
210-a paint spraying structure; 211-paint spray head; 212-paint bin; 213-a paint spray tube; 214-an aerosol valve;
220-paint thickness detection structure; 221-a detection component; 222-a test head protection assembly; 230-a drive structure;
2221-a housing chamber; 2222-a telescopic rod; 2223-drive motor;
2224-protective cover; 2225-rotating rod; 2226-rotating electric machine.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the present application will be clearly and completely described below with reference to the drawings of the embodiments of the present application. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments without inventive effort, are within the scope of protection of the present application.
Unless defined otherwise, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs. As used in this application, the terms "first," "second," and the like do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
Example 1
The embodiment discloses an unmanned ship 1 for painting an ocean platform, which comprises the following components in percentage by weight as shown in figure 1: a hull 100 and a painting apparatus 200. The hull 100 is provided with a control unit 101, and the control unit 101 is configured to receive a control instruction from a remote monitoring center and control the navigation of the unmanned ship 1 based on the control instruction. The paint spraying device 200 is disposed on the hull 100, electrically connected to the control unit 101, and used for performing paint spraying treatment on the parts of the ocean platform equipment. The painting apparatus 200 includes a painting structure 210 and a paint thickness detection structure 220. Paint thickness detection structure 220 includes a detection assembly 221 and a detection head protection assembly 222, detection head protection assembly 222 being configured to protect detection assembly 221 from paint diffusion contamination during painting. The painting structure 210 includes: a spray head 211, a paint tank 212, a spray tube 213 and an aerosol valve 214. The paint spray head 211 is used for spraying paint to the equipment parts to be sprayed on the ocean platform. Paint bin 212 is secured to hull 100 for storing paint. The paint spray pipe 213 communicates at one end with the paint spray head 211 and at the other end with the paint tank 212. The aerosol valve 214 is provided on the spray head 211 and electrically connected to the control unit 101. As shown in fig. 2, the detection head protection assembly 222 includes: an accommodating chamber 2221, a telescopic bar 2222 and a driving motor 2223. The accommodating chamber 2221 has an open end, an inner circumferential surface of the accommodating chamber 2221 is engaged with an outer circumferential surface of the detection assembly 221, the inner circumferential surface of the accommodating chamber 2221 at least partially coincides with a surface of the detection head of the detection assembly 221, and the accommodating chamber 2221 is used for accommodating the detection assembly 221. The telescopic rod 2222 is disposed in the accommodating chamber 2221, connected to an end of the detecting component 221 away from the opening end, and configured to drive the detecting component 221 to move along the axial direction of the accommodating chamber 2221. The driving motor 2223 is disposed in the accommodating chamber 2221, connected to one end of the telescopic rod 2222 away from the detection assembly 221, and electrically connected to the control unit 101, and is used to control the telescopic rod 2222 to drive the detection assembly 221 to move.
In this embodiment, the accommodating chamber 2221 is disposed in the detection head protection assembly 222, and is used for accommodating the detection assembly 221, so that the detection assembly 221 can be controlled to extend out of or retract into the accommodating chamber 2221 according to specific conditions during the paint spraying process, and the detection assembly 221 can be flexibly protected from being contaminated by paint.
The detection component 221 in this embodiment employs an infrared camera, and is electrically connected to the control unit 101 for detecting the thickness of paint during paint spraying. The thickness of the paint vehicle after being sprayed is detected by utilizing the imaging principle of the infrared camera, so that the uniform spraying is realized. The painting apparatus 200 further includes: a drive structure 230. The driving structure 230 has one end connected to the hull 100 and the other end connected to the painting structure 210 and the paint thickness detecting structure 220, respectively, and is electrically connected to the control unit 101 for controlling the orientations of the painting structure 210 and the paint thickness detecting structure 220. In addition, the unmanned ship 1 further includes: the cleaning device 300 is arranged on the ship body 100, and is electrically connected with the control unit 101. The cleaning device 300 uses a high pressure water gun.
In the specific implementation process, the method comprises the following steps:
s1: and controlling the unmanned ship 1 to arrive at the ocean platform, starting a high-pressure water gun to clean up the interferents on the ocean platform, and performing treatment work before paint spraying after the cleaning is finished.
S2: the detection assembly 221 is controlled to extend out of the accommodating chamber 2221, and the area to be painted is determined by the detection head of the detection assembly 221.
S3: after the detection assembly 221 is retracted into the accommodating chamber 2221, the aerosol valve 214 of the paint spraying structure 210 is opened, and the driving structure 230 is controlled to spray paint to the predetermined area to be painted by the paint spraying structure 210.
S4: after the painting is finished, the detection assembly 221 is controlled to extend out of the accommodating chamber 2221 to detect whether the painted area is painted uniformly. If so, the painting structure 210 is closed. If not, performing secondary paint spraying until the detection result is uniform.
S5: and after the paint spraying is finished, controlling the unmanned ship 1 to sail to the next target ocean platform for paint spraying again, and circularly repeating the steps 1-4.
Example 2
The painting structure 210 and the driving structure 230 in this embodiment are the same as those in embodiment 1. Except for detection assembly 221 and detection head protection assembly 222 in paint thickness detection structure 220.
The detection assembly 221 in this embodiment adopts a radiation thickness gauge, and detects the thickness of the paint vehicle after painting by using the radiation principle of the radiation thickness gauge, thereby realizing uniform painting.
As shown in fig. 3, the detector head protection assembly 222 in this embodiment includes: a protective cover 2224, a lever 2225, and a rotary motor 2226.
The protective cover 2224 is adapted to the shape of the detection head of the detection assembly 221. The direction of the axis of the rotating rod 2225 is perpendicular to the cover surface of the protection cover 2224, and the cover surface of the protection cover 2224 moves in a sliding manner relative to the plane of the detection head of the detection assembly 221, and when the sliding angles of the protection cover 2224 controlled by the rotating motor 2226 are different, the areas exposed by the detection head are different in size.
The rotating rod 2225 is connected to the protective cover 2224, and is used to control the opening and closing of the protective cover 2224.
The rotating motor 2226 is fixed on one side of the circumferential surface of the detecting element 221, which is close to the protective cover 2224, connected to the rotating rod 2225, and electrically connected to the control unit 101, for controlling the rotating rod 2225 to drive the protective cover 2224 to open and close.
In this embodiment, the protection head of the detection component 221 is protected by opening and closing the protection cover 2224, so that the structure is simple, the protected object is more definite, and the structural change is flexible.
The cleaning device 300 in this embodiment employs a high pressure air gun.
In the specific implementation process, the method comprises the following steps:
s1: and controlling the unmanned ship 1 to arrive at the ocean platform, starting a high-pressure air gun to clean the interferent on the ocean platform, and performing treatment work before paint spraying after cleaning.
S2: the detection component 221 is controlled to open the protective cover 2224, and the area to be painted is determined by the detection head of the detection component 221.
S3: after the control detecting assembly 221 closes the protective cover 2224, the aerosol valve 214 of the painting structure 210 is opened, and the driving structure 230 is controlled to paint the painting structure 210 to the predetermined area to be painted.
S4: after the painting is finished, the detection component 221 is controlled to open the protective cover 2224, and whether the painted area is evenly painted is detected. If so, the painting structure 210 is closed. If not, performing secondary paint spraying until the detection result is uniform.
S5: and after the paint spraying is finished, controlling the unmanned ship 1 to sail to the next target ocean platform for paint spraying again, and circularly repeating the steps 1-4.
Example 3
The painting structure 210, the driving structure 230, and the detecting member 221 in this embodiment are the same as those in embodiment 2. Except for test head protection assembly 222.
In the head protection unit 222 of the present embodiment, the direction of the rotating lever 2225 is different from that of embodiment 2. As shown in fig. 4, the direction of the axis of the rotating rod 2225 is parallel to the cover surface of the protection cover 2224, and the cover surface of the protection cover 2224 moves in a manner of flipping with respect to the plane of the detection head of the detection assembly 221, so that when the protection cover 2224 is controlled by the rotating motor 2226 to flip, the detection head can be exposed when the protection cover 2224 needs to flip to a certain extent.
The cleaning device 300 in this embodiment is a combination of a high-pressure water gun and a high-pressure air gun.
In the specific implementation process, the method comprises the following steps:
s1: controlling the unmanned ship 1 to arrive at the ocean platform, starting a high-pressure water gun to clean the interferent of the ocean platform, opening the high-pressure air gun to dry an area to be painted after cleaning is finished, and performing treatment work before painting.
S2: the detection component 221 is controlled to open the protective cover 2224, and the area to be painted is determined by the detection head of the detection component 221.
S3: after the control detecting assembly 221 closes the protective cover 2224, the aerosol valve 214 of the painting structure 210 is opened, and the driving structure 230 is controlled to paint the painting structure 210 to the predetermined area to be painted.
S4: after the painting is finished, the detection component 221 is controlled to open the protective cover 2224, and whether the painted area is evenly painted is detected. If so, the painting structure 210 is closed. If not, performing secondary paint spraying until the detection result is uniform.
S5: and after the paint spraying is finished, controlling the unmanned ship 1 to sail to the next target ocean platform for paint spraying again, and circularly repeating the steps 1-4.
It should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.
Claims (10)
1. An unmanned ship for painting an ocean platform, comprising:
the control unit is used for receiving a control command of a remote monitoring center and controlling the navigation of the unmanned ship based on the control command;
the paint spraying device is arranged on the ship body, is electrically connected with the control unit and is used for performing paint spraying treatment on the ocean platform equipment parts;
the paint spraying device comprises a paint spraying structure and a paint thickness detection structure; the paint thickness detection structure comprises a detection assembly and a detection head protection assembly, wherein the detection head protection assembly is used for preventing the detection assembly from being polluted by paint diffusion when paint is sprayed.
2. The unmanned marine vessel for painting an offshore platform according to claim 1, wherein the painting structure comprises:
the paint spraying head is used for spraying paint to equipment parts to be sprayed on the ocean platform;
the paint box is fixed on the ship body and used for storing paint;
one end of the paint spraying pipe is communicated with the paint spraying head, and the other end of the paint spraying pipe is communicated with the paint box;
and the aerosol valve is arranged on the spray painting head and is electrically connected with the control unit.
3. The unmanned marine vessel for painting an offshore platform according to claim 1, wherein the inspection head protection assembly comprises:
the accommodating chamber is provided with an opening end, the inner peripheral surface of the accommodating chamber is embedded with the outer peripheral surface of the detection assembly, at least part of the inner peripheral surface of the accommodating chamber is overlapped with the surface of the detection head of the detection assembly, and the accommodating chamber is used for accommodating the detection assembly;
the telescopic rod is arranged in the accommodating cavity, is connected with one end of the detection assembly, which is far away from the opening end, and is used for driving the detection assembly to move along the axial direction of the accommodating cavity;
and the driving motor is arranged in the accommodating cavity, is connected with one end of the telescopic rod, which is far away from the detection assembly, is electrically connected with the control unit and is used for controlling the telescopic rod to drive the detection assembly to move.
4. The unmanned marine vessel for painting an offshore platform according to claim 1, wherein the inspection head protection assembly comprises:
the protective cover is matched with the shape of the detection head of the detection assembly;
the rotating rod is connected with the protective cover and used for controlling the protective cover to open and close;
the rotating motor is fixed on one side, close to the protective cover, of the peripheral surface of the detection assembly, connected with the rotating rod and electrically connected with the control unit, and is used for controlling the rotating rod to drive the protective cover to open and close.
5. Unmanned ship for painting marine platforms, according to claim 4,
the direction of the axis of the rotating rod is vertical to the cover surface of the protective cover;
or the direction of the axis of the rotating rod is parallel to the cover surface of the protective cover.
6. The unmanned ship for painting marine platforms according to any one of claims 1 to 5, wherein the detection component is an infrared camera or a radiation thickness gauge, and is electrically connected with the control unit for detecting the thickness of paint during painting.
7. The unmanned marine vessel for painting an offshore platform according to claim 1, wherein the painting apparatus further comprises: a drive structure;
one end of the driving structure is connected with the ship body, and the other end of the driving structure is respectively connected with the paint spraying structure and the paint thickness detection structure, is electrically connected with the control unit and is used for controlling the directions of the paint spraying structure and the paint thickness detection structure.
8. The unmanned vessel for painting marine platforms as defined in claim 1, further comprising: a cleaning device;
the cleaning device is arranged on the ship body and is electrically connected with the control unit.
9. The unmanned marine vessel for painting marine platforms as defined in claim 8 wherein the cleaning means is any one or a combination of a high pressure water gun or a high pressure air gun.
10. A method of controlling an unmanned ship for painting an offshore platform according to any one of claims 1 to 9, comprising the steps of:
s1: controlling the unmanned ship to arrive at the ocean platform, starting a high-pressure water gun and/or a high-pressure air gun to clean up the interferents on the ocean platform, optionally opening the high-pressure air gun to dry an area to be painted after cleaning, and performing treatment work before painting;
s2: controlling the detection assembly to extend out of the accommodating cavity or opening the protective cover, and determining a region to be painted through a detection head of the detection assembly;
s3: after the detection assembly is controlled to retract into the accommodating cavity or the protective cover is closed, the aerosol valve of the paint spraying structure is opened, and meanwhile, the driving structure is controlled to enable the paint spraying structure to spray paint to a preset area to be painted;
s4: after the paint spraying is finished, controlling the detection assembly to extend out of the accommodating cavity or opening the protective cover, and detecting whether the paint sprayed area is uniformly sprayed; if yes, closing the paint spraying structure; if not, performing secondary paint spraying until the detection result is uniform;
s5: and after the painting is finished, controlling the unmanned ship to sail to the next target ocean platform for painting again, and circularly repeating the steps 1-4.
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| CN202210899826.0A CN115195950A (en) | 2022-07-28 | 2022-07-28 | Unmanned ship for paint spraying of ocean platform and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210899826.0A CN115195950A (en) | 2022-07-28 | 2022-07-28 | Unmanned ship for paint spraying of ocean platform and control method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116380177A (en) * | 2023-06-06 | 2023-07-04 | 深圳市云帆自动化技术有限公司 | Marine petroleum FPSO (floating production storage and offloading) full-ship monitoring system |
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| EP0165911A2 (en) * | 1984-06-22 | 1985-12-27 | VIANOVA S.p.A. | Method and robot platform for washing, sandblasting and painting in shipbuilding dry dock |
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