CN113560087A - Boats and ships machine sprayer people based on specific mark of computer vision perception discernment - Google Patents
Boats and ships machine sprayer people based on specific mark of computer vision perception discernment Download PDFInfo
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- CN113560087A CN113560087A CN202110892517.6A CN202110892517A CN113560087A CN 113560087 A CN113560087 A CN 113560087A CN 202110892517 A CN202110892517 A CN 202110892517A CN 113560087 A CN113560087 A CN 113560087A
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- spraying
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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
- B05B13/02—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
- B05B13/0431—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 with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to 3D-surfaces
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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
- 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
- B05B12/36—Side shields, i.e. shields extending in a direction substantially parallel to the spray jet
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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
- B05B15/60—Arrangements for mounting, supporting or holding spraying apparatus
- B05B15/62—Arrangements for supporting spraying apparatus, e.g. suction cups
- B05B15/625—Arrangements for supporting spraying apparatus, e.g. suction cups designed to be placed on the ground
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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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Catching Or Destruction (AREA)
Abstract
The invention discloses a ship machine sprayer capable of recognizing specific marks based on computer visual perception, which comprises a moving seat and a U-shaped pipe, wherein a first motor is installed at the bottom of the moving seat, a controller is installed at the top of the moving seat, a mounting box is installed at the top of the moving seat and located on one side of the controller, a storage barrel is installed at the top of the moving seat and located on one side of the controller, and a pressure pump is installed at the top of the moving seat. According to the spraying device, the GPS positioning module, the computer vision module and the perception identification module are respectively arranged on the top of the first mounting plate, the computer vision module can simulate an automatic task which can be completed by a human vision system, the perception identification module is connected with the identification camera, and the device can identify the position of a specific mark through the perception identification module and the perception identification camera, so that the spraying device can spray the specific mark, and the device is more intelligent.
Description
Technical Field
The invention relates to the technical field of ship spraying, in particular to a ship spraying robot for recognizing a specific mark based on computer vision perception.
Background
The boats and ships are the vehicle that can navigate by water or berth in the waters and transport or the operation, according to the operation requirement of difference and have different technical performance, equip and structural style, thereby add man-hour to boats and ships, need the surface coating material to boats and ships, thereby make the metal on boats and ships surface can not seriously corroded, current boats and ships carry out the spraying through artifical handheld spray gun when carrying out the spraying, traditional spraying mode can cause the injury to staff's healthy, and when the spraying, the spraying quality liquid of boats and ships can not obtain the assurance.
The defects of the identification glasses in the prior art are as follows:
1. the comparison document CN107127081A discloses a marine painting robot, and the invention relates to a marine painting robot. The robot include platform, electromagnetism adsorption wheel, directive wheel, receipt and actuating system, vertical lift pole, horizontal migration pole, the manipulator that sprays paint, detection device and spray gun, electromagnetism adsorption wheel and directive wheel connect in the platform lower part, receipt and actuating system setting in the platform, vertical lift pole one end fixed connection on the platform, horizontal migration pole connect on vertical lift pole, manipulator one end fixed connection that sprays paint on the horizontal migration pole, the manipulator other end that sprays paint sets up the spray gun, detection device set up on the manipulator that sprays paint at the spray gun rear portion. The device has the advantages of simple structure, reduction of industrial accidents, safety, environmental protection, reduction of human body damage, high automation degree and high working efficiency, has a single structure, is not high in intelligence, and cannot identify specific marks, so that the spraying speed of the ship is increased;
2. the comparison document CN105689174A discloses an automatic spraying robot for a ship, "the present invention provides an automatic spraying robot for a ship, which is characterized by comprising: a frame; the driving mechanism is arranged at the bottom of the frame and drives the whole automatic ship spraying robot to move on the ship body; an electrical module mounted on top of the frame; the spraying mechanism is arranged on the frame and used for spraying the ship body; and the support columns are arranged at four corners of the frame and used for supporting the frame to a preset height in an emergency. The automatic spraying robot for the ship can simulate coating workers to operate, reduces labor input of shipyards, improves operation efficiency, and avoids damage of paint to the workers, and incomplete spraying or missing spraying is easy to occur when the automatic spraying robot for the ship sprays the ship, so that the spraying quality of the ship can be influenced;
3. the invention discloses a robot spraying device for a ship, which comprises a driving device, a pulley, a rope and an end effector, wherein the driving device is connected with the pulley; the driving devices are provided with a plurality of driving devices, and each driving device comprises a motor, a coupling, a speed reducer and a roller; one end of each rope is connected to the end effector, the other end of each rope is connected to a roller of the driving device, and the rollers are driven to rotate through the work of the motors, so that the corresponding ropes are driven to extend or shorten. The end effectors are drawn together by the rope; the variable speed spray head for painting is fixed on the end effector, the paint spraying flow rate is changed along with the movement speed of the end effector, and the larger the movement speed is, the larger the flow rate is. The invention solves the problems that the spraying device is simple and easy to construct, has high spraying efficiency and can ensure uniform spraying thickness, and the device is not provided with a protective device, and the wind power for spraying can influence the device, thereby causing unstable spraying.
4. The comparison document CN107380449A discloses an unmanned aerial vehicle spraying robot system for ship steel plates, and the invention discloses an unmanned aerial vehicle spraying robot system for ship steel plates, which comprises: the device comprises an unmanned aerial vehicle (1), a spraying gun (2), a feeding device (3) and a control device (4), wherein the spraying gun (2) is installed on a foot stool (11) of the unmanned aerial vehicle (1); the feeding device (3) comprises a ground feeding box (31) and a feeding pipe (32); the control device (4) comprises an ultrasonic detector (41), a panoramic image monitor (42) and a ground controller (43); this unmanned aerial vehicle spraying robot system only needs the spraying worker to carry out ground control, and need not to stand again and carry out the spraying operation of high latitude on the high platform, not only greatly reduced spraying worker's operation intensity, greatly reduced danger coefficient moreover still improves spraying efficiency simultaneously. In addition, unmanned aerial vehicle among the spraying robot system simple structure, space are not restricted, mobility is good, need not airport runway, can remote control, and is applicable in various spraying operating modes ", does not have installation agitating unit among the device, and coating can appear the even condition of portion through long-time sediment, can cause the influence to the quality of spraying, can not carry out the accurate spraying to the less position of area simultaneously.
Disclosure of Invention
The invention aims to provide a ship aircraft sprayer for identifying a specific mark based on computer visual perception so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme: a ship machine sprayer capable of recognizing specific marks based on computer vision perception comprises a moving seat and a U-shaped pipe, wherein a first motor is installed at the bottom of the moving seat, a controller is installed at the top of the moving seat, a mounting box is installed at the top of the moving seat and located on one side of the controller, a storage barrel is installed at the top of the moving seat and located on one side of the controller, a pressure pump is installed at the top of the moving seat, and a pneumatic cylinder is installed at the top of the moving seat through bolts;
and a fixed pipe is arranged at the top of the U-shaped pipe.
Preferably, a battery box is installed at the top of the movable seat, and a storage battery is installed in the battery box.
Preferably, a first rotating wheel is installed at the output end of the first motor, a connecting band is sleeved on the outer side of the first rotating wheel, a second rotating wheel is movably installed on the inner side of one end of the connecting band, connecting rods are installed on two sides of the second rotating wheel, a moving wheel is installed at one end of each connecting rod, and the moving wheel is located below the moving seat.
Preferably, a display screen is installed on the front surface of the controller.
Preferably, install first mounting panel on the bottom inner wall of mounting box, GPS orientation module is installed at the top of first mounting panel, and computer vision module is located GPS orientation module's the place ahead, and perception identification module is installed at the top of first mounting panel, and perception identification module is located computer vision module's the place ahead.
Preferably, the measuring ruler machine is installed in the front of storage vat, and the feed inlet is installed at the top of storage vat, installs the fixed axle on the bottom inner wall of storage vat, and the second motor is installed through the bolt in the top of storage vat, and the second motor is located one side of feed inlet, and the output of second motor runs through the top inner wall of storage vat, and the dwang is installed to the output of second motor, and the stirring leaf is installed to the outside symmetric distribution of dwang.
Preferably, the inlet pipe is installed to the input of force pump, and the one end of inlet pipe is installed in one side of storage vat, and the discharging pipe is installed to the output of force pump, and flexible pipe is installed to the one end of discharging pipe.
Preferably, the carriage release lever is installed on the top of pneumatic cylinder, the fixed plate is installed on the top of carriage release lever, the connecting pipe is installed to the bottom of fixed plate, and the bottom of connecting pipe is connected on the top of flexible pipe, the second mounting panel is installed to the top installation top symmetric distribution of fixed plate, the front and the back mounted of second mounting panel have the barrier plate, the connecting plate is installed to the inboard of second mounting panel, the installed part is installed at the top of connecting plate, the discernment camera is installed to the one end of installed part, first shower nozzle is installed to one side of second mounting panel.
Preferably, the solenoid valve is installed in the outside of fixed pipe, and the one end of fixed pipe runs through the one side inner wall of connecting piece, and the bottom of connecting piece is installed at the top of fixed plate, and the second spraying head is installed to one side of connecting piece.
Preferably, the working steps of the device are as follows:
s1, a user can convert electric energy into kinetic energy after the first motor is powered on to drive the first rotating wheel to rotate, the first rotating wheel is connected with the second rotating wheel through a connecting belt, so that the second rotating wheel rotates, the moving wheel rotates through a connecting rod, the device can move, and a structure needing power utilization on the device runs through a storage battery power utilization structure;
s2, a controller and a mounting box are mounted on the movable seat, an operating instruction can be input into the device through the controller, the device can work through the instruction, the device can move for spraying and the like, a perception identification module and a computer vision module are mounted in the mounting box, the computer vision module can simulate an automatic task which can be completed by a human vision system, the device is enabled to be more intelligent, the perception identification module is connected with the recognition camera, and the device can identify the position of a specific mark through the perception identification module and the perception recognition camera;
s3, a storage barrel is installed at the top of the movable seat, a stirring device is installed inside the storage barrel and used for preventing the internal coating from being stirred, the stirring device is driven by a second motor to operate, the coating is not uniform inside the storage barrel, the coating inside the storage barrel is transmitted to the inside of a spraying device through a pressure pump and is sprayed out through the spraying device;
s4, the height of the spraying device can be moved through the pneumatic cylinder, the spraying device can be adjusted, an identification camera is installed in the spraying device and used for identifying a specific mark, when the device is used for spraying, spraying can be conducted on two sides of a ship, incomplete spraying or missing spraying is prevented, a fixed pipe is installed at the top of a U-shaped pipe, a second spraying head is installed at one end of the fixed pipe, and the second spraying head is used for spraying a place with a small spraying area, so that the device is more convenient to spray;
s5, a blocking plate is installed at the same time, the blocking plate is installed on the back and the front of the second installation plate, and the blocking plate enables the paint during spraying to be more stable during spraying, cannot be influenced by wind power, and cannot enable the paint to float everywhere and influence the environment.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention installs the mounting box on the top of the movable seat, the inner wall of the bottom of the mounting box is installed with the first mounting plate through the bolt, the top of the first mounting plate is respectively installed with the GPS positioning module, the computer vision module and the perception identification module, the spraying device can be positioned by workers through the GPS positioning module, so that the device can automatically move, the computer vision module can simulate the automatic task which can be completed by a human vision system, so that the device is more intelligent, the perception identification module is connected with the identification camera, the device can identify the position of the specific mark through the identification module and the sensing identification camera, so that the spraying device can spray the specific mark, or the specific mark can not be sprayed, so that the intellectualization of the device is increased, and the service performance of the device is stronger.
2. According to the spraying device, the second mounting plates are symmetrically distributed and mounted on the top of the fixing plate, the first spray head is mounted on one side of the second mounting plate, coating can be sprayed out through the first spray head, when the movable wheel moves, the spraying device can spray two sides of a ship, and the phenomenon that the spraying device is missed during spraying is avoided, so that the spraying quality of the spraying device is affected and the spraying quality of the spraying device is unqualified, and the spraying quality of the ship is better and the phenomenon of the missing cannot occur due to the fact that the ship is sprayed twice.
3. According to the invention, the protection plates are arranged on the front surface and the back surface of the second mounting plate, and play a role of protection, so that wind power can be blocked, the influence of the wind power on the sprayed coating can be prevented, the coating spraying is not uniform, the coating spraying can be more uniform through the blocking plates, the coating can be prevented from floating to be controlled during the coating spraying, the environment is prevented from being polluted, and the coating can be well blocked.
4. According to the invention, the stirring device is arranged at the top of the storage barrel, electric energy can be converted into kinetic energy after the second motor in the stirring device is electrified, the stirring blade is driven to rotate by the rotating rod, so that the coating in the storage barrel can be stirred, the phenomenon that the coating is not uniform after long-time sedimentation is prevented, the coating in the storage barrel is more uniform through the stirring of the stirring blade, the color of the sprayed coating is more accurate, and meanwhile, the second spraying head is arranged on one side of the connecting piece and used for spraying a position with a smaller area, so that the spraying device is more convenient to use.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic view of a first motor structure according to the present invention;
FIG. 3 is a schematic view of a U-shaped tube structure of the present invention;
FIG. 4 is a schematic structural view of the mounting box of the present invention;
FIG. 5 is a schematic view of the solenoid valve of the present invention;
FIG. 6 is a cross-sectional view of a storage vat of the present invention;
FIG. 7 is a schematic view of an identification camera structure according to the present invention;
fig. 8 is a schematic view of the battery structure of the present invention.
In the figure: 1. a movable seat; 101. a battery case; 102. a storage battery; 2. a first motor; 201. a first runner; 202. a connecting belt; 203. a second runner; 204. a connecting rod; 205. a moving wheel; 3. a controller; 301. a display screen; 4. mounting a box; 401. a first mounting plate; 402. a GPS positioning module; 403. a computer vision module; 404. a perception identification module; 5. a storage barrel; 501. a measuring ruler; 502. a feed inlet; 503. a fixed shaft; 504. a second motor; 505. rotating the rod; 506. stirring blades; 6. a pressure pump; 601. a feed pipe; 602. a discharge pipe; 603. a telescopic pipe; 7. a pneumatic cylinder; 701. a travel bar; 702. a fixing plate; 703. a connecting pipe; 704. a second mounting plate; 705. a blocking plate; 706. a connecting plate; 707. a mounting member; 708. identifying a camera; 709. a first spray head; 8. a U-shaped tube; 801. a fixed tube; 802. an electromagnetic valve; 803. a connecting member; 804. a second spray head.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "front", "rear", "both ends", "one end", "the other end", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "connected," and the like are to be construed broadly, such as "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1, fig. 2, and fig. 8, an embodiment of the present invention: a marine machine sprayer for recognizing specific marks based on computer vision perception.
Embodiment 1, including removing seat 1 and first motor 2, remove the bottom of seat 1 and install first motor 2, remove the top of seat 1 and install battery case 101, the internally mounted of battery case 101 has battery 102, remove seat 1 and provide the mounted position for top spraying device, also play the effect of connecting simultaneously, can connect the equipment at top through removing seat 1, make spraying device as an organic whole, conveniently remove, battery case 101 makes battery 102 can install, also play the effect of protection simultaneously, prevent that battery 102 from receiving the damage, battery 102 can convert the electric energy into chemical energy and store after the circular telegram, when needing to use, can convert chemical energy into electric energy and use again, this spraying device provides electric power, first runner 201 is installed to the output of first motor 2, the outside cover of first runner 201 has connecting band 202, a second rotating wheel 203 is movably mounted on the inner side of one end of the connecting belt 202, connecting rods 204 are mounted on two sides of the second rotating wheel 203, a moving wheel 205 is mounted at one end of each connecting rod 204, the moving wheel 205 is located below the moving seat 1, the first motor 2 can convert electric energy into kinetic energy after being electrified and can drive the first rotating wheel 201 to rotate so as to provide power for the rotation of the first rotating wheel 201, the first rotating wheel 201 can drive the connecting belt 202 to operate through rotation, the connecting belt 202 plays a connecting role, the first rotating wheel 201 and the second rotating wheel 203 can be connected through the connecting belt 202 so that the second rotating wheel 203 can rotate, the second rotating wheel 203 provides a mounting position for the connecting rods 204, the moving wheels 205 at two ends can rotate through the connecting rod 204, the moving wheels 205 can move through rotation, and no worker is required to move the device, playing the role of saving manpower, the controller 3 is installed at the top of the movable seat 1, the display screen 301 is installed on the front surface of the controller 3, the controller 3 is used for controlling the operation of the device, special instructions are input through the controller 3, so that the spraying device can automatically operate without manual operation, the convenience is very high, the intelligence of the device is increased, the injury to the body of a worker can be prevented when the worker operates the spraying device, the display screen 301 is used for displaying the state of the spraying device, the worker can conveniently know the operation state of the spraying device, and the convenience is provided for the worker,
referring to fig. 4 and 6, an embodiment of the present invention: a marine machine sprayer for recognizing specific marks based on computer vision perception.
Embodiment 2, including mounting box 4 and storage vat 5, mounting box 4 is installed at the top of removal seat 1, and mounting box 4 is located one side of controller 3, install first mounting panel 401 on the bottom inner wall of mounting box 4, install GPS positioning module 402 on the top of first mounting panel 401, computer vision module 403 is installed on the top of first mounting panel 401, and computer vision module 403 is located the place ahead of GPS positioning module 402, perception identification module 404 is installed on the top of first mounting panel 401, and perception identification module 404 is located the place ahead of computer vision module 403, mounting box 4 provides the mounted position for the operation module inside, prevent the module from receiving the damage when moving, play the effect of protection, first mounting panel 401 provides the mounted position for GPS positioning module 402, computer vision module 403 and perception identification module 404, make it can install, the GPS positioning module 402 plays a positioning role, so that a worker can position the spraying device, the spraying device can automatically move, the computer vision module 403 can simulate an automatic task which can be completed by a human vision system, the device is more intelligent, the perception identification module 404 is connected with the identification camera 708, the device can identify the position of a specific mark through the perception identification module 404 and the identification camera 708, the spraying device can spray the specific mark or can not spray the specific mark, the intelligence of the device is increased, the service performance of the device is stronger, the storage tank 5 is installed at the top of the movable seat 1, the storage tank 5 is positioned at one side of the controller 3, the measuring scale 501 is installed on the front surface of the storage tank 5, the feeding hole 502 is installed at the top of the storage tank 5, the fixing shaft 503 is installed on the inner wall of the bottom of the storage tank 5, the storage vat 5 is used for storing paint, and simultaneously provides a mounting position for the stirring device, so that the stirring device can be mounted, the measuring ruler 501 enables workers to know the residual amount of the paint in the storage vat 5, so that the workers can add the paint in time, and no insufficient paint occurs, the feed inlet 502 enables the paint to enter the storage vat 5 to provide a space for the paint to enter, the inner side of the fixed shaft 503 is embedded with the bottom end of the rotating rod 505, so that the rotating rod 505 is more stable during rotation, and no large shaking occurs, the top of the storage vat 5 is provided with the second motor 504 through bolts, the second motor 504 is positioned at one side of the feed inlet 502, the output end of the second motor 504 penetrates through the inner wall of the top of the storage vat 5, the rotating rod 505 is installed at the output end of the second motor 504, and stirring blades 506 are symmetrically distributed and installed at the outer side of the rotating rod 505, the second motor 504 can convert electric energy into kinetic energy after being powered on, can drive the rotating rod 505 to rotate, and provide power for the rotation of the rotating rod 505, the stirring blade 506 is installed outside the rotating rod 505, the rotating rod 505 provides an installation position for the stirring blade 506, so that the stirring blade 506 can be installed, the rotating rod 505 can drive the stirring blade 506 to rotate, the stirring blade 506 can stir the paint inside the storage bucket 5 when rotating, so that the paint inside the storage bucket 5 is more uniform, the paint is prevented from being deposited for a long time, and the condition of uneven paint is avoided,
referring to fig. 3 and 7, an embodiment of the present invention: a marine machine sprayer for recognizing specific marks based on computer vision perception.
Embodiment 3, including a pressure pump 6 and a pneumatic cylinder 7, a pressure pump 6 is installed on the top of the movable base 1, a feeding pipe 601 is installed on the input end of the pressure pump 6, one end of the feeding pipe 601 is installed on one side of the storage barrel 5, a discharging pipe 602 is installed on the output end of the pressure pump 6, a telescopic pipe 603 is installed on one end of the discharging pipe 602, the pressure pump 6 can convert electric energy into kinetic energy after being powered on, so that the paint can be transmitted, and power is provided for the transmission of the paint, the feeding pipe 601 provides space for the paint inside the storage barrel 5 to enter the interior of the pressure pump 6, the discharging pipe 602 provides space for the discharge of the paint, so that the paint can be discharged from the interior of the pressure pump 6, the telescopic pipe 603 can be extended and retracted, by the extension and retraction of the telescopic pipe 603, the movement of the spraying apparatus is not affected, and a position is provided for the transportation of the paint, so that the paint can enter the interior of the spraying apparatus, the pneumatic cylinder 7 is installed on the top of the moving seat 1 through bolts, the moving rod 701 is installed on the top of the pneumatic cylinder 7, the fixing plate 702 is installed on the top of the moving rod 701, the connecting pipe 703 is installed on the bottom of the fixing plate 702, the bottom end of the connecting pipe 703 is connected to the top end of the telescopic pipe 603, the pneumatic cylinder 7 converts air pressure energy into kinetic energy, the moving rod 701 at the output end can be driven to move, so that the spraying structure ascends or descends, the moving rod 701 plays a role in connection, the fixing plate 702 provides a mounting position for the second mounting plate 704, so that the second mounting plate 704 can be mounted, the connecting pipe 703 plays a role in connection, by being connected with the telescopic pipe 603, the coating in the telescopic pipe 603 can enter the inside of the U-shaped pipe 8, the second mounting plates 704 are symmetrically distributed and installed on the top of the fixing plate 702, and the blocking plates 705 are installed on the front and the back of the second mounting plates 704, the inner side of the second mounting plate 704 is provided with a connecting plate 706, the top of the connecting plate 706 is provided with a mounting part 707, one end of the mounting part 707 is provided with an identification camera 708, one side of the second mounting plate 704 is provided with a first spray head 709, the second mounting plate 704 provides mounting positions for the connecting plate 706 and the first spray head 709 so as to enable the mounting part to be mounted, the blocking plate 705 can be used for blocking wind power and preventing the wind power from influencing sprayed paint and preventing the paint from flying into the air and polluting the air, the connecting plate 706 provides a mounting position for the mounting part 707 so as to enable the mounting part 707 to be mounted, the mounting part 707 is used for mounting the identification camera 708 so as to enable the identification camera 708 to be mounted, the identification camera 708 is used for identifying a specific mark position, the first spray head 709 is used for spraying ships, and the first spray heads 709 are designed in two rows, the spraying device has the advantages that the phenomenon of missing can not occur when spraying is carried out, the spraying of ships is more uniform, the spraying quality of the ships is also improved, and the spraying quality of the ships is better.
Referring to fig. 5, an embodiment of the present invention: a marine machine sprayer for recognizing specific marks based on computer vision perception.
Embodiment 4, including the hairpin tube 8, fixed pipe 801 is installed at the top of hairpin tube 8, solenoid valve 802 is installed to the outside of fixed pipe 801, one end of fixed pipe 801 runs through the one side inner wall of connecting piece 803, and the bottom of connecting piece 803 is installed at the top of fixed plate 702, second spraying head 804 is installed to one side of connecting piece 803, hairpin tube 8 provides the space for the transmission of coating, make fixed pipe 801 provide the mounted position for solenoid valve 802, make solenoid valve 802 can install, make coating can enter into the inside of second spraying head 804, solenoid valve 802 can open or close the inside of fixed pipe 801, can adjust the flow of coating, second spraying head 804 is through spouting coating, be used for spraying the boats and ships that the area is less, make the spraying of coating more accurate.
The working steps of the device are as follows:
s1, after being powered on, the first motor 2 converts electric energy into kinetic energy to drive the first rotating wheel 201 to rotate, the first rotating wheel 201 is connected to the second rotating wheel 203 through the connecting band 202, so that the second rotating wheel 203 rotates, the connecting rod 204 rotates the moving wheel 205, and the device can move, and the structure of the device that needs electricity runs through the storage battery 102 using an electric structure;
s2, a controller 3 and a mounting box 4 are mounted on the movable seat 1, an operating instruction can be input into the device through the controller 3, the device can work through the instruction, the device can move and spray, and the like, a perception identification module 404 and a computer vision module 403 are mounted in the mounting box 4, the computer vision module 403 can simulate an automatic task which can be completed by a human vision system, so that the device is more intelligent, the perception identification module 404 is connected with an identification camera 708, and the device can identify the position of a specific mark through the perception identification module 404 and the perception identification camera 708;
s3, installing a storage barrel 5 on the top of the movable seat 1, installing a stirring device in the storage barrel 5, wherein the stirring device is used for preventing the coating in the storage barrel 5 from being stirred, the stirring device is driven by a second motor 504 to operate, the coating is not uniform in the storage barrel 5, the coating in the storage barrel 5 is transmitted to the interior of the spraying device through a pressure pump 6, and the coating is sprayed out through the spraying device;
s4, can remove spraying device' S height through pneumatic cylinder 7, make spraying device can adjust, install discernment camera 708 among the spraying device, discernment camera 708 is used for discerning specific mark, the device is when carrying out the spraying, can carry out both sides spraying to boats and ships, prevent the incompleteness of spraying, or the disappearance, install fixed pipe 801 at the top of U-shaped pipe 8, second spraying head 804 is installed to the one end of fixed pipe 801, second spraying head 804 is used for spraying the less place of spray area, it is more convenient when carrying out the spraying to make the device.
S5, a blocking plate 705 is installed at the same time, the blocking plate 705 is installed on the back and the front of the second installation plate 704, the blocking plate 705 enables the paint during spraying to be more stable during spraying, the influence of wind power cannot be caused, and the influence of the paint on the environment can not be caused due to the fact that the paint floats everywhere.
The working principle is as follows: when a ship machine sprayer based on a specific mark is identified by computer vision perception, firstly, after being electrified, the first motor 2 can convert electric energy into kinetic energy to drive the first rotating wheel 201 to rotate, the first rotating wheel 201 is connected with the second rotating wheel 203 through the connecting belt 202 to rotate the second rotating wheel 203, so that the moving wheel 205 is rotated through the connecting rod 204 to enable the device to move, the device is moved to a place needing to be used, the controller 3 and the mounting box 4 are installed on the moving seat 1, the operating instruction can be input into the device through the controller 3 to enable the device to work through the instruction, the device is enabled to move for spraying and the like, the perception identification module 404 and the computer vision module 403 are installed in the mounting box 4, and the computer vision module 403 can imitate an automatic task which can be completed by a human vision system, the device is more intelligent, the perception identification module 404 is connected with the identification camera 708, the device can identify the position of a specific mark through the perception identification module 404 and the perception identification camera 708, paint to be used is added into the storage barrel 5 from the feeding hole 502, the stirring device can be driven to rotate through the second motor 504 at the top of the storage barrel 5 after being electrified, the internal paint is more uniform, the height of the spraying device can be moved through the pneumatic cylinder 7, the spraying device can be adjusted, the identification camera 708 is arranged in the spraying device, the identification camera 708 is used for identifying the specific mark, the device can spray two sides of a ship when spraying, incomplete spraying or missing is prevented, the fixed pipe 801 is arranged at the top of the U-shaped pipe 8, the second spraying head 804 is arranged at one end of the fixed pipe 801, the second spraying head 804 is used for spraying a place with a smaller spraying area, so that the device is more convenient to spray, and meanwhile, the blocking plate 705 is also installed, and the blocking plate 705 can be used for blocking wind power, so that the wind power is prevented from influencing the sprayed coating, and meanwhile, the coating is prevented from floating in the air and polluting the air.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (10)
1. A ship machine sprayer based on specific mark of computer visual perception discernment, includes removal seat (1) and U-shaped pipe (8), its characterized in that: the automatic feeding device is characterized in that a first motor (2) is installed at the bottom of the moving seat (1), a controller (3) is installed at the top of the moving seat (1), a mounting box (4) is installed at the top of the moving seat (1), the mounting box (4) is located on one side of the controller (3), a storage barrel (5) is installed at the top of the moving seat (1), the storage barrel (5) is located on one side of the controller (3), a pressure pump (6) is installed at the top of the moving seat (1), and a pneumatic cylinder (7) is installed at the top of the moving seat (1) through bolts;
the top of the U-shaped pipe (8) is provided with a fixed pipe (801).
2. The marine aircraft sprayer for identifying specific markers based on computer vision perception of claim 1, wherein: a battery box (101) is installed at the top of the movable seat (1), and a storage battery (102) is installed inside the battery box (101).
3. The marine aircraft sprayer for identifying specific markers based on computer vision perception of claim 1, wherein: first runner (201) is installed to the output of first motor (2), and the outside cover of first runner (201) has connecting band (202), and the inboard movable mounting of one end of connecting band (202) has second runner (203), and connecting rod (204) are installed to the both sides of second runner (203), and removal wheel (205) is installed to the one end of connecting rod (204), and removes wheel (205) and be located the below of removing seat (1).
4. The marine aircraft sprayer for identifying specific markers based on computer vision perception of claim 1, wherein: and a display screen (301) is arranged on the front surface of the controller (3).
5. The marine aircraft sprayer for identifying specific markers based on computer vision perception of claim 1, wherein: install first mounting panel (401) on the bottom inner wall of mounting box (4), GPS orientation module (402) is installed at the top of first mounting panel (401), computer vision module (403) is installed at the top of first mounting panel (401), and computer vision module (403) is located the place ahead of GPS orientation module (402), perception identification module (404) is installed at the top of first mounting panel (401), and perception identification module (404) is located the place ahead of computer vision module (403).
6. The marine aircraft sprayer for identifying specific markers based on computer vision perception of claim 1, wherein: measuring ruler machine (501) is installed in the front of storage vat (5), feed inlet (502) are installed at the top of storage vat (5), install fixed axle (503) on the bottom inner wall of storage vat (5), second motor (504) are installed through the bolt in the top of storage vat (5), second motor (504) are located one side of feed inlet (502), and the output of second motor (504) runs through the top inner wall of storage vat (5), dwang (505) are installed to the output of second motor (504), stirring leaf (506) are installed to the outside symmetric distribution of dwang (505).
7. The marine aircraft sprayer for identifying specific markers based on computer vision perception of claim 1, wherein: inlet pipe (601) are installed to the input of force pump (6), and the one end of inlet pipe (601) is installed in one side of storage vat (5), and discharging pipe (602) are installed to the output of force pump (6), and flexible pipe (603) are installed to the one end of discharging pipe (602).
8. The marine aircraft sprayer for identifying specific markers based on computer vision perception of claim 1, wherein: removal rod (701) are installed on the top of pneumatic cylinder (7), fixed plate (702) are installed on the top of removal rod (701), connecting pipe (703) are installed to the bottom of fixed plate (702), and the bottom of connecting pipe (703) is connected on the top of connecting in flexible pipe (603), second mounting panel (704) are installed to the top installation top symmetric distribution of fixed plate (702), stopper plate (705) are installed to the front and the back of second mounting panel (704), connecting plate (706) are installed to the inboard of second mounting panel (704), installed part (707) are installed at the top of connecting plate (706), discernment camera (708) are installed to the one end of installed part (707), first spraying head (709) are installed to one side of second mounting panel (704).
9. The marine aircraft sprayer for identifying specific markers based on computer vision perception of claim 1, wherein: the electromagnetic valve (802) is installed on the outer side of the fixed pipe (801), one end of the fixed pipe (801) penetrates through the inner wall of one side of the connecting piece (803), the bottom of the connecting piece (803) is installed at the top of the fixed plate (702), and the second spraying head (804) is installed on one side of the connecting piece (803).
10. A marine vehicle spray applicator for identifying specific markers based on computer vision perception according to any one of claims 1 to 9, the apparatus operating as follows:
s1, a user can convert electric energy into kinetic energy after being electrified through a first motor (2) to drive a first rotating wheel (201) to rotate, the first rotating wheel (201) is connected with a second rotating wheel (203) through a connecting belt (202), so that the second rotating wheel (203) rotates, a moving wheel (205) rotates through a connecting rod (204), the device can move, and a structure needing power on the device runs through an electric structure of a storage battery 102;
s2, a controller (3) and a mounting box (4) are mounted on the movable seat (1), an operating instruction can be input into the device through the controller (3), the device can work through the instruction, the device can move for spraying and the like, a perception identification module (404) and a computer vision module (403) are mounted in the mounting box (4), the computer vision module (403) can simulate an automatic task which can be completed by a human vision system, the device is more intelligent, the perception identification module (404) is connected with an identification camera (708), and the device can identify the position of a specific mark through the perception identification module (404) and the perception identification camera (708);
s3, a storage barrel (5) is installed at the top of the movable seat (1), a stirring device is installed inside the storage barrel (5) and used for preventing the internal coating from being stirred, the stirring device is driven by a second motor (504) to operate, the coating is uneven inside the storage barrel (5), the coating inside the storage barrel (5) is transmitted to the inside of a spraying device through a pressure pump (6), and the coating is sprayed out through the spraying device;
s4, can remove spray set' S height through pneumatic cylinder (7), make spray set adjust, install discernment camera (708) among the spray set, discernment camera (708) are used for discerning specific mark, the device is when carrying out the spraying, can carry out both sides spraying to boats and ships, prevent the incompleteness of spraying, or the disappearance, fixed pipe (801) are installed at the top of U-shaped pipe (8), second spray head (804) are installed to the one end of fixed pipe (801), second spray head (804) are used for carrying out the spraying with the less place of spraying area, it is more convenient when carrying out the spraying to make the device.
S5, a protection plate (5) is installed at the same time, the protection plate (5) is installed on the back face and the front face of the second installation plate (704), and the protection plate (705) enables the paint during spraying to be more stable during spraying, cannot be influenced by wind power, and cannot cause the paint to float everywhere, so that the environment is influenced.
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| CN202110892517.6A CN113560087A (en) | 2021-08-04 | 2021-08-04 | Boats and ships machine sprayer people based on specific mark of computer vision perception discernment |
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| CN202110892517.6A CN113560087A (en) | 2021-08-04 | 2021-08-04 | Boats and ships machine sprayer people based on specific mark of computer vision perception discernment |
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