CN110328089B - Robot, control system and control method for automatic spraying of aircraft air inlet - Google Patents
Robot, control system and control method for automatic spraying of aircraft air inlet Download PDFInfo
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- 238000005507 spraying Methods 0.000 title claims abstract description 97
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- 210000001503 joint Anatomy 0.000 claims description 14
- 210000002414 leg Anatomy 0.000 claims description 13
- 230000005540 biological transmission Effects 0.000 claims description 12
- 239000003973 paint Substances 0.000 claims description 11
- 238000006243 chemical reaction Methods 0.000 claims description 7
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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
- B05B12/12—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 conditions of ambient medium or target, e.g. humidity, temperature position or movement of the target relative to the spray apparatus
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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
- 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
- B05B13/06—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 specially designed for treating the inside of hollow bodies
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D1/00—Dropping, ejecting, releasing, or receiving articles, liquids, or the like, in flight
- B64D1/16—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting
- B64D1/18—Dropping or releasing powdered, liquid, or gaseous matter, e.g. for fire-fighting by spraying, e.g. insecticides
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- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a control system of a robot for automatically spraying an aircraft air inlet channel, which comprises a control unit, an upper computer background monitoring system, a spraying system and a steering engine driving system and an obstacle avoidance module. The robot includes the backup pad, installs the arm in the backup pad, installs in the backup pad and keeps away from the sufficient of crawling of arm one side, install in the arm and keep away from backup pad one side spraying rifle head. The control method specifically comprises the steps of image information acquisition, image filtering, target classification and identification, spraying area confirmation and spraying. The invention realizes the accurate positioning of the non-spraying area of the aircraft air inlet and realizes the purpose of uniform automatic spraying; the robot is used for replacing a human to enter a narrow space to collect video image data of a working environment, and the control of the motion process of the robot is realized by combining a remote control technology; effectively realizes mechanical and automatic spraying.
Description
Technical Field
The invention relates to the technical field, in particular to a robot, a control system and a control method for automatic spraying of an aircraft air inlet.
Background
With the continuous progress of modern science and technology, especially the improvement of the processing capacity of sensors and actuators, the development of computer technology, the progress of mechanical design and numerical control processing tools and the like, the rapid development of robots is promoted. The intelligent robot is widely applied to various fields such as engineering, production and manufacturing, life and the like, and can replace human beings in repeated heavy labor and work and even replace human beings to perform tasks in extremely dangerous environments by virtue of the advantages of miniaturization, intelligence, high flexibility and the like.
At present, the working mode of combining manual spraying and robot arm spraying is mainly adopted for spraying the air inlet channel of the airplane. The traditional mode of manually entering the air inlet for spraying paint is limited by working space, so that workers are inconvenient to operate, paint causes great harm to human health, and meanwhile, the method has the limitations of low operating efficiency, uneven paint spraying and the like, and the technological requirement of high flatness of the surface of an airplane cannot be met. The spraying method which adopts the industrial mechanical arm to extend into the air inlet channel can solve most of the problems of the method, but the method also has the following disadvantages. Firstly, the industrial mechanical arm has large volume, and the flexibility of the industrial mechanical arm is reduced in a limited operation space such as an air inlet channel; secondly, the air inlet channel has larger length, which also provides great challenges for the design and the work of the mechanical arm; finally, when the robot arm works in the air inlet channel, the outside cannot know the working condition inside. The three points are extremely easy to cause the damage of the air inlet channel of the airplane caused by the collision of the robot arm, so that serious economic loss is caused at light time, and safety accidents are caused at heavy time. Therefore, it is necessary to design a smart device that is small, flexible and can move forward and backward freely for spraying of the air inlet of the aircraft.
Disclosure of Invention
The invention aims to provide a robot, a control system and a control method for automatic spraying of an aircraft air inlet, so that the accurate positioning of an uncoated area of the aircraft air inlet is realized, and the purpose of uniform automatic spraying is realized.
The invention is realized by the following technical scheme:
a robot control system for automatic spraying of aircraft intake duct uses with the robot cooperation, including the control unit, with the host computer backstage monitored control system of control unit connection, with the control unit connection and be used for controlling the spraying system of the spraying rifle head spraying of robot, be connected with the control unit and be used for driving the steering wheel actuating system of robot path and keep away the barrier module with the control unit connection.
Further, in order to better implement the invention, the spraying system comprises an image acquisition module and an illumination module which are respectively connected with the control unit, and the image acquisition module and the illumination module are respectively arranged on the spraying gun head.
Further, in order to better realize the invention, the model of the control unit is STM32F103, the obstacle avoidance module is a U1 ultrasonic sensor, and the model of the steering engine driving system is AA 51880;
the Vin pin of the AA51880 is connected with an unused PA pin or PB pin or PC pin in the STM32F 103.
Further, in order to better implement the present invention, a data transmission module and a D/a digital-to-analog conversion module are further disposed between the image acquisition module and the control unit, an output end of the image acquisition module is sequentially connected to the D/a digital-to-analog conversion module and the data transmission module, and the data transmission module is connected to the control unit.
Further, in order to better implement the invention, the lighting module comprises a plurality of groups of light emitting diode groups, triodes Q2 and resistor groups which are connected in parallel; the cathode of the light emitting diode group is connected with the collector of the triode Q2, the emitter of the triode Q2 is grounded, the base of the triode Q2 is connected with one end of the resistor group respectively, and the other end of the resistor group is connected with the control unit.
Furthermore, in order to better realize the invention, the invention also comprises a signal indicator light connected with the control unit and a power supply control module respectively connected with the illumination module, the control unit, the image acquisition module and the steering engine driving system.
A robot for aircraft intake duct automatic spraying, including the backup pad, install the arm in the backup pad, install the sufficient of crawling of keeping away from arm one side in the backup pad, install the spraying rifle head of keeping away from backup pad one side at the arm, the quantity of the sufficient number of crawling is six groups and all is connected with the backup pad.
Further, in order to better realize the invention, each group of the crawling feet comprises a steering joint, a leg joint and a shin joint which are sequentially hinged with the supporting plate; a sucker is arranged at one end of the tibia joint far away from the leg joint;
a first X-axis steering engine which rotates around an X axis is arranged between the leg joint and the shin joint, a second X-axis steering engine which rotates around the X axis is arranged between the steering joint and the leg joint, and a first Z-axis steering engine which rotates around a Z axis is arranged between the steering joint and the supporting plate;
the mechanical arm comprises a fixed seat fixedly arranged on the supporting plate, a first driving arm arranged on the fixed seat and a second driving arm hinged with the first driving arm; the spraying gun head is hinged with one end of the second driving arm far away from the first driving arm; a Y-axis steering engine rotating around a Y axis is arranged between the first driving arm and the second driving arm, and a third X-axis steering engine rotating around an X axis is arranged between the second driving arm and the spraying gun head; and an illuminating lamp and a camera are arranged at one end of the spraying gun head, which is far away from the third X-axis steering engine.
And the first X-axis steering engine, the second X-axis steering engine, the third X-axis steering engine, the Y-axis steering engine and the first Z-axis steering engine are respectively connected with a steering engine driving system.
The control method of the machine for automatically spraying the air inlet of the airplane specifically comprises the following steps:
step S1: placing the robot at an inlet of the air inlet channel, and taking the inlet as an initial working position of the automatic spraying robot;
step S2: and starting the robot and the upper computer background monitoring system.
Step S3: image information acquisition: video image data acquired by the image acquisition module is transmitted to an upper computer background monitoring system through a data transmission module to serve as a data source for image identification;
step S4: image filtering: the background monitoring system of the upper computer adopts a high gain filtering algorithm to remove noise signals in the image, improves the quality of the image and makes the blurred image clear, and specifically comprises the following steps:
step S41: subtracting the smooth image of the original image from the original image to obtain a high gain image; namely:
g(x,y)＝f(x,y)-fs(x,y) (1)；
in the formula (1), g (x, y) represents the obtained enhancement image, f (x, y) represents the input image, fs(x, y) represents a smoothed image of the input image;
step S42: multiplying the original image and the high-gain image by different values respectively, and adding the multiplication results to obtain a new image;
fhb(x,y)＝Af(x,y)+Kg(x,y) (2)；
in the formula (2), fhb(x, y) represents a new image, A and K are proportionality coefficients, A is more than or equal to 0, and K is more than or equal to 0 and less than or equal to 1;
step S5: and (3) target classification and identification: defining characteristic parameters of colors for the detection of the area to be sprayed in the image, and selecting and using an analysis method such as perceptually uniform color space;
step S6: after the area to be sprayed is positioned, sending an instruction to a spraying system by a background monitoring system of an upper computer, and spraying by aligning a spraying gun head to the identified area which is not sprayed;
step S7: the third X-axis steering engine at the front end of the mechanical arm rotates around the ring surface of the air inlet channel of the airplane by an angle theta, the arc length l corresponding to the angle is equal to the width w of paint spraying, namely w is equal to l, theta pi r/180;
step S8: repeatedly executing the steps S3 to S7 until the first X-axis steering engine, the second X-axis steering engine, the third X-axis steering engine, the Y-axis steering engine and the first Z-axis steering engine respectively rotate 360 degrees around the air inlet channel ring surface;
step S9: releasing the locking state of the sucker, and retreating the automatic spraying robot by a distance d;
when the robot stops retreating, the sucker structure is in a working state, and the crawling foot is firmly attached to the ground;
the retreating distance d is equal to the width w of the last paint spraying, namely d is equal to w;
step S10: step S8 is executed;
step S11: and (5) repeatedly executing the step (S9) and the step (S10) until the automatic spraying robot moves back to the other end of the aircraft air inlet channel to finish spraying.
Compared with the prior art, the invention has the following advantages and beneficial effects:
(1) the invention realizes the accurate positioning of the non-spraying area of the aircraft air inlet and realizes the purpose of uniform automatic spraying;
(2) the robot is used for replacing human beings to enter a narrow space to collect video image data of a working environment, and the control of the motion process of the robot is realized by combining a remote control technology; effectively realizes mechanical and automatic spraying.
Drawings
FIG. 1 is a schematic diagram of the connection relationship of the control system of the present invention;
FIG. 2 is a schematic structural view of a robot according to the present invention;
FIG. 3 is a circuit diagram of a control unit according to the present invention;
FIG. 4 is a circuit diagram of a steering engine drive system according to the present invention;
FIG. 5 is a circuit diagram of a lighting module of the present invention;
fig. 6 is a circuit diagram of an obstacle avoidance module according to the present invention;
FIG. 7 is a circuit diagram of a power control module according to the present invention;
FIG. 8 is a circuit diagram of a signal indicating lamp according to the present invention;
wherein 1, a sucker; 2-the tibioarticular; 3-a first X-axis steering engine; 4-leg joint; 5-a second X-axis steering engine; 6, a first Z-axis steering engine; 7-a support plate; 8, a fixed seat; 9 — a first drive arm; 10-Y-axis steering engine; 11-a second drive arm; 12-third X-axis steering engine; 13-a lighting lamp; 14-spraying gun head; 15-camera.
Detailed Description
The present invention will be described in further detail with reference to examples, but the embodiments of the present invention are not limited thereto.
Example 1:
the invention is realized by the following technical scheme that as shown in figures 1-8, the robot control system for automatic spraying of the aircraft air inlet comprises a control unit, an upper computer background monitoring system connected with the control unit, a spraying system connected with the control unit and used for controlling spraying of a spraying gun head of the robot, a steering engine driving system connected with the control unit and used for driving the robot to walk, and an obstacle avoidance module connected with the control unit.
It should be noted that, through the improvement, in the use, operating personnel settles the robot in the entrance of aircraft intake duct, the information of paint finishing in to the intake duct is gathered and is sent for the control unit, the control unit transmits information processing analysis back for host computer backstage monitored control system, operating personnel can see the information in the intake duct through host computer backstage monitored control system, thereby control robot's spraying rifle head 14 carries out the spraying in to the intake duct, after certain regional spraying is accomplished, operating personnel will drive the robot through the control unit and walk in the intake duct, carry out the spraying of other regions, complete spraying is accomplished in the intake duct.
Example 2:
the present embodiment is further optimized based on the above embodiments, as shown in fig. 1, the spraying system includes an image collecting module and an illuminating module respectively connected to the control unit, and the image collecting module and the illuminating module are respectively installed on the spraying gun head 14.
It should be noted that, through the improvement, the image acquisition module acquires the condition in the air inlet channel and transmits the acquired condition to the control unit, and the control unit processes the information and transmits the processed information to the upper computer background monitoring system, so that an operator can solve the spraying condition of the robot in the air inlet channel in real time, and errors in spraying are avoided. The lighting module is used for lighting up the working environment in the air inlet channel, so that the image acquisition module can collect information of the working condition in the air inlet channel. The background monitoring system of the upper computer determines a region to be sprayed according to the obtained image, issues a task instruction, and the spraying system realizes spraying, so that the purposes of automation and intellectualization are achieved.
Other parts of this embodiment are the same as those of the above embodiment, and thus are not described again.
Example 3:
the embodiment is further optimized on the basis of the above embodiments, as shown in fig. 3, 4 and 6, the model of the control unit is STM32F103, the obstacle avoidance module is a U1 ultrasonic sensor, and the model of the steering engine driving system is AA 51880;
the pin 2 of the U1 ultrasonic sensor is connected with the PC8 pin of the STM32F103, and the pin 3 of the U1 ultrasonic sensor is connected with the PC9 pin of the STM32F 103; the obstacle avoidance module measures the position of the robot relative to the air inlet channel in real time in the spraying process, and enables all parts of the robot to keep a certain safe distance from the inner wall of the air inlet channel, so that the crawling robot is effectively prevented from damaging the air inlet channel of the airplane when in work.
The image acquisition device is characterized in that a data transmission module and a D/A digital-to-analog conversion module are further arranged between the image acquisition module and the control unit, the output end of the image acquisition module is sequentially connected with the D/A digital-to-analog conversion module and the data transmission module, and the data transmission module is connected with the control unit. The digital video signal collected by the image collection module is converted into an analog video signal by the D/A digital-to-analog conversion module to be uploaded, and the advantages of narrow occupied frequency spectrum and high channel utilization rate during analog signal transmission are fully utilized.
The lighting module comprises a plurality of groups of light emitting diode groups, triodes Q2 and resistor groups which are connected in parallel; the cathode of the light emitting diode group is connected with the collector of the triode Q2, the emitter of the triode Q2 is grounded, the base of the triode Q2 is connected with one end of the resistor group respectively, and the other end of the resistor group is connected with the control unit. As shown in fig. 5, the plurality of sets of light emitting diode sets include a first light emitting diode set, a second light emitting diode set, a third light emitting diode set, a fourth light emitting diode set, and a fifth light emitting diode set; the first light-emitting diode group comprises a light-emitting diode LED4 and an LED5 which are sequentially connected; the second group of light emitting diodes comprises light emitting diodes LED6, LED 7; the third light-emitting diode group comprises a light-emitting diode LED8 and an LED9 which are connected in sequence; the fourth light emitting diode group comprises a light emitting diode LED610 and an LED11 which are connected in sequence; the fifth light-emitting diode group comprises a light-emitting diode LED612 and an LED13 which are connected in sequence;
the anodes of the light emitting diodes LED4, LED6, LED8, LED10 and LED12 are all connected with a power supply, the anodes of the light emitting diodes LED4, LED6, LED8, LED10 and LED12 are respectively connected with LED5, LED7, LED9, LED11 and LED13 in series, the cathodes of LED5, LED7, LED9, LED11 and LED13 are respectively connected with the collector of a triode Q2, the emitter of the triode Q2 is grounded, the base of the triode Q2 is respectively connected with one end of a resistor 8.2K, a resistor 4.3K, a resistor 2K, a resistor 1K and a resistor 431, the other end of the resistor 8.2K is connected with a pin PC3 of the control unit, and the other end of the resistor 4.3K is connected with a pin PC4 of the control unit; the other end of the resistor 2K is connected with a PC5 pin of the control unit; the other end of the resistor 1K is connected with a PC6 pin of the control unit; the other end of the resistor 431 is connected with a PC7 pin of the control unit;
the device also comprises a signal indicator light connected with the control unit and a power supply control module respectively connected with the illumination module, the control unit, the image acquisition module and the steering engine driving system. As shown in fig. 8, the signal indicating lamp includes a light emitting diode LED1 connected to a pin of the control unit PC0 through a resistor 1K, a light emitting diode LED2 connected to a pin of the control unit PC1 through a resistor 1K, and a light emitting diode LED3 connected to a pin of the control unit PC2 through a resistor 1K; the anodes of the light emitting diodes LED1, LED2 and LED3 are connected with a power supply.
As shown in fig. 7, the power control module reduces the voltage to the voltage required by the lighting module, the control unit, the image acquisition module and the steering engine driving system, and power supply can be realized by self-connection.
The Vin pin of the AA51880 is connected with an unused PA pin or PB pin or PC pin in the STM32F 103.
The system also comprises a control lever control system connected with the control unit, the control lever control system is connected with the control unit through a wireless network module, the communication module is used for sending a motion attitude command generated by the control lever to the control unit, the control unit feeds data back to the upper computer background monitoring system, the upper computer background monitoring system analyzes the motion attitude command and sends analyzed information to the control unit, so that the motion control of the robot is realized, and the motion attitude command comprises forward motion, backward motion and turning motion.
The background monitoring system of the upper computer is a computer.
Other parts of this embodiment are the same as those of the above embodiment, and thus are not described again.
Example 4:
as shown in fig. 2, the robot for automatically spraying the air inlet channel of the airplane comprises a support plate 7, mechanical arms installed on the support plate 7, crawling feet installed on one side, far away from the mechanical arms, of the support plate 7, and spraying gun heads 14 installed on one side, far away from the support plate 7, of the mechanical arms, wherein the crawling feet are six groups and are all connected with the support plate 7.
Each group of the crawling feet comprises a steering joint, a leg joint 4 and a shin joint 2 which are sequentially hinged with a support plate 7; a sucker 1 is arranged at one end of the tibia joint 2 far away from the leg joint 4;
a first X-axis steering engine 3 which rotates around an X axis is arranged between the leg joint 4 and the shin joint 2, a second X-axis steering engine 5 which rotates around the X axis is arranged between the steering joint and the leg joint 4, and a first Z-axis steering engine 6 which rotates around a Z axis is arranged between the steering joint and the supporting plate 7; the output end of the first X-axis steering engine 3 is connected with the shin joint 2, the output end of the second X-axis steering engine 5 is connected with the leg joint 4, and the output end of the first Z-axis steering engine 6 is connected with the steering joint.
The mechanical arm comprises a fixed seat 8 fixedly arranged on the supporting plate 7, a first driving arm 9 arranged on the fixed seat 8 and a second driving arm 11 hinged with the first driving arm 9; the spraying gun head 14 is hinged with one end of the second driving arm 11 far away from the first driving arm 9; a Y-axis steering engine 10 rotating around a Y axis is arranged between the first driving arm 9 and the second driving arm 11, and a third X-axis steering engine 12 rotating around an X axis is arranged between the second driving arm 11 and the spraying gun head 14; the output end of the Y-axis steering engine 10 is connected with a second driving arm 11, and the output end of a third X-axis steering engine 12 is connected with a spraying gun head 14; and an illuminating lamp 13 and a camera 15 are installed at one end, far away from the third X-axis steering engine 12, of the spraying gun head 14.
And the first X-axis steering engine 3, the second X-axis steering engine 5, the third X-axis steering engine 12, the Y-axis steering engine 10 and the first Z-axis steering engine 6 are respectively connected with a steering engine driving system. Thereby the control unit passes through steering wheel drive system and realizes the walking of robot in the intake duct and spraying control.
Other parts of this embodiment are the same as those of the above embodiment, and thus are not described again.
Example 5:
as shown in fig. 1 to 7, the control method of the machine for automatic spraying of the aircraft inlet specifically includes the following steps:
step S1: placing the robot at an inlet of the air inlet channel, and taking the inlet as an initial working position of the automatic spraying robot;
step S2: and starting the robot and the upper computer background monitoring system.
Step S3: image information acquisition: video image data acquired by the image acquisition module is transmitted to an upper computer background monitoring system through a data transmission module to serve as a data source for image identification;
step S4: image filtering: the background monitoring system of the upper computer adopts a high gain filtering algorithm to remove noise signals in the image, improves the quality of the image and makes the blurred image clear, and specifically comprises the following steps:
step S41: subtracting the smooth image of the original image from the original image to obtain a high gain image;
g(x,y)＝f(x,y)-fs(x,y) (1)；
in the formula (1), g (x, y) represents the obtained enhancement image, f (x, y) represents the input image, fs(x, y) represents a smoothed image of the input image;
step S42: multiplying the original image and the high-gain image by different values respectively, and adding the multiplication results to obtain a new image;
fhb(x,y)＝Af(x,y)+Kg(x,y) (2)；
in the formula (2), fhb(x, y) represents a new image, A and K are proportionality coefficients, A is more than or equal to 0, and K is more than or equal to 0 and less than or equal to 1; preferably, when K is more than or equal to 0.2 and less than or equal to 0.7, the filtering effect is best.
Step S5: and (3) target classification and identification: defining characteristic parameters of colors for the detection of the area to be sprayed in the image, and selecting and using an analysis method such as perceptually uniform color space;
step S6: after the area to be sprayed is positioned, sending an instruction to a spraying system by a background monitoring system of an upper computer, and spraying by aligning a spraying gun head to the identified area which is not sprayed;
step S7: the angle of rotation of the third X-axis steering engine 12 at the front end of the mechanical arm around the plane air inlet ring surface is theta, the arc length l corresponding to the angle is equal to the width w of paint spraying, namely w is equal to l, theta pi r/180;
step S8: repeatedly executing the steps S3 to S7 until the first X-axis steering engine 3, the second X-axis steering engine 5, the third X-axis steering engine 12, the Y-axis steering engine 10 and the first Z-axis steering engine 6 respectively rotate for 360 degrees around the air inlet duct ring surface;
step S9: the locking state of the sucker 1 is released, and the automatic spraying robot retreats by a distance d; when the robot stops retreating, the structure of the sucker 1 is in a working state, and the crawling foot is firmly attached to the ground;
the retreating distance d is equal to the width w of the last paint spraying, namely d is equal to w;
step S10: step S8 is executed;
step S11: and (5) repeatedly executing the step (S9) and the step (S10) until the automatic spraying robot moves back to the other end of the aircraft air inlet channel to finish spraying.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the present invention in any way, and all simple modifications and equivalent variations of the above embodiments according to the technical spirit of the present invention are included in the scope of the present invention.
Claims (2)
1. The utility model provides a robot for aircraft intake duct automatic spraying, the robot passes through robot control system control, its characterized in that: the robot comprises a supporting plate (7), mechanical arms arranged on the supporting plate (7), crawling feet arranged on one side, away from the mechanical arms, of the supporting plate (7) and spraying gun heads (14) arranged on one side, away from the supporting plate (7), of the mechanical arms, wherein the crawling feet are six groups and are connected with the supporting plate (7); each group of the crawling feet comprises a steering joint, a leg joint (4) and a shin joint (2) which are sequentially hinged with a support plate (7); a sucker (1) is arranged at one end of the tibia joint (2) far away from the leg joint (4); a first X-axis steering engine (3) rotating around an X axis is arranged between the leg joint (4) and the shin joint (2), a second X-axis steering engine (5) rotating around the X axis is arranged between the steering joint and the leg joint (4), and a first Z-axis steering engine (6) rotating around a Z axis is arranged between the steering joint and the supporting plate (7); the mechanical arm comprises a fixed seat (8) fixedly arranged on the support plate (7), a first driving arm (9) arranged on the fixed seat (8), and a second driving arm (11) hinged with the first driving arm (9); the spraying gun head (14) is hinged with one end, far away from the first driving arm (9), of the second driving arm (11); a Y-axis steering engine (10) rotating around a Y axis is arranged between the first driving arm (9) and the second driving arm (11), and a third X-axis steering engine (12) rotating around an X axis is arranged between the second driving arm (11) and the spraying gun head (14); an illuminating lamp (13) and a camera (15) are mounted at one end, far away from the third X-axis steering engine (12), of the spraying gun head (14); the first X-axis steering engine (3), the second X-axis steering engine (5), the third X-axis steering engine (12), the Y-axis steering engine (10) and the first Z-axis steering engine (6) are respectively connected with a steering engine driving system; the robot control system comprises a control unit, an upper computer background monitoring system connected with the control unit, a spraying system connected with the control unit and used for controlling spraying of a spraying gun head of the robot, a steering engine driving system connected with the control unit and used for driving the robot to walk, and an obstacle avoidance module connected with the control unit; the spraying system comprises an image acquisition module and an illumination module which are respectively connected with the control unit, and the image acquisition module and the illumination module are respectively arranged on the spraying gun head (14); the model of the control unit is STM32F103, the obstacle avoidance module is a U1 ultrasonic sensor, and the model of the steering engine driving system is AA 51880; the pin 2 of the U1 ultrasonic sensor is connected with the PC8 pin of the STM32F103, and the pin 3 of the U1 ultrasonic sensor is connected with the PC9 pin of the STM32F 103; the Vin pin of the AA51880 is connected with an unused PA pin or PB pin or PC pin in the STM32F 103; a data transmission module and a D/A digital-to-analog conversion module are also arranged between the image acquisition module and the control unit, the output end of the image acquisition module is sequentially connected with the D/A digital-to-analog conversion module and the data transmission module, and the data transmission module is connected with the control unit; the lighting module comprises a plurality of groups of light emitting diode groups, triodes Q2 and resistor groups which are connected in parallel; the cathode of the light emitting diode group is connected with the collector of the triode Q2, the emitter of the triode Q2 is grounded, the base of the triode Q2 is connected with one end of the resistor group respectively, and the other end of the resistor group is connected with the control unit; the device also comprises a signal indicator light connected with the control unit and a power supply control module respectively connected with the illumination module, the control unit, the image acquisition module and the steering engine driving system.
2. The control method of the robot for automatic spraying of the aircraft intake according to claim 1, characterized in that: the method specifically comprises the following steps:
step S1: placing the robot at an inlet of the air inlet channel, and taking the inlet as an initial working position of the automatic spraying robot;
step S2: starting the robot and the upper computer background monitoring system;
step S3: image information acquisition: video image data acquired by the image acquisition module is transmitted to an upper computer background monitoring system through a data transmission module to serve as a data source for image identification;
step S4: image filtering: the background monitoring system of the upper computer adopts a high gain filtering algorithm to remove noise signals in the image, improves the quality of the image and makes the blurred image clear, and specifically comprises the following steps:
step S41: subtracting the smooth image of the original image from the original image to obtain a high gain image;
g(x,y)＝f(x,y)-fs(x,y) (1)；
in the formula (1), g (x, y) represents the obtained enhancement image, f (x, y) represents the input image, fs(x, y) represents a smoothed image of the input image;
step S42: multiplying the original image and the high-gain image by different values respectively, and adding the multiplication results to obtain a new image; namely:
fhb(x,y)＝Af(x,y)+Kg(x,y) (2)；
in the formula (2), fhb(x, y) represents a new image, A and K are proportionality coefficients, A is more than or equal to 0, and K is more than or equal to 0 and less than or equal to 1;
step S5: and (3) target classification and identification: defining characteristic parameters of colors for the detection of the area to be sprayed in the image, and selecting and using an analysis method such as perceptually uniform color space;
step S6: after the area to be sprayed is positioned, sending an instruction to a spraying system by an upper computer background monitoring system, and spraying paint by aligning a spraying gun head to the identified area which is not sprayed;
step S7: the third X-axis steering engine (12) at the front end of the mechanical arm rotates around the ring surface of the air inlet channel of the airplane by an angle theta, the arc length l corresponding to the angle is equal to the width w of paint spraying, namely w is equal to l, theta pi r/180;
step S8: repeatedly executing the steps S3 to S7 until the first X-axis steering engine (3), the second X-axis steering engine (5), the third X-axis steering engine (12), the Y-axis steering engine (10) and the first Z-axis steering engine (6) respectively rotate for 360 degrees around the air inlet channel ring surface;
step S9: the locking state of the sucker (1) is released, and the automatic spraying robot retreats by a distance d;
when the robot stops retreating, the structure of the sucker (1) is in a working state, and the crawling foot is firmly attached to the ground;
the retreating distance d is equal to the width w of the last paint spraying, namely d is equal to w;
step S10: step S8 is executed;
step S11: and (5) repeatedly executing the steps S9 and S10 until the robot retreats to the other end of the aircraft air inlet channel, and finishing spraying.
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| CN110725513A (en) * | 2019-10-23 | 2020-01-24 | 广州瑞一环保科技有限公司 | Intelligent coating robot |
| CN111774217A (en) * | 2020-07-30 | 2020-10-16 | 李伟 | Paint spraying robot for heat exchanger tube bundle and spraying method thereof |
| CN112691864B (en) * | 2020-11-27 | 2022-05-10 | 成都飞机工业（集团）有限责任公司 | Method for improving coating thickness uniformity of automatic spraying coating |
| CN115301517B (en) * | 2022-08-22 | 2023-11-10 | 上海工程技术大学 | Automatic spraying method for repairing defects of fan blades |
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| CN101739030B (en) * | 2009-12-18 | 2011-12-14 | 重庆大学 | Spray robot control system |
| CN104699115A (en) * | 2013-12-06 | 2015-06-10 | 王健 | Intelligent self-positioning system of spraying robot |
| CN203620850U (en) * | 2013-12-23 | 2014-06-04 | 北京机械工业自动化研究所 | Spraying equipment for empennage |
| JP6473902B2 (en) * | 2015-08-18 | 2019-02-27 | 株式会社安川電機 | Coating system and method |
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