CN115350881B - Automatic adjustment spraying process for ship surface spraying - Google Patents
Automatic adjustment spraying process for ship surface spraying Download PDFInfo
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- CN115350881B CN115350881B CN202211208982.4A CN202211208982A CN115350881B CN 115350881 B CN115350881 B CN 115350881B CN 202211208982 A CN202211208982 A CN 202211208982A CN 115350881 B CN115350881 B CN 115350881B
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- 238000005507 spraying Methods 0.000 title claims abstract description 147
- 238000000034 method Methods 0.000 title claims abstract description 24
- 239000011248 coating agent Substances 0.000 claims abstract description 10
- 238000000576 coating method Methods 0.000 claims abstract description 10
- 238000005259 measurement Methods 0.000 claims abstract description 7
- 238000013459 approach Methods 0.000 claims abstract description 4
- 239000003973 paint Substances 0.000 claims description 11
- 230000002146 bilateral effect Effects 0.000 claims description 4
- WYTGDNHDOZPMIW-RCBQFDQVSA-N alstonine Natural products C1=CC2=C3C=CC=CC3=NC2=C2N1C[C@H]1[C@H](C)OC=C(C(=O)OC)[C@H]1C2 WYTGDNHDOZPMIW-RCBQFDQVSA-N 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 2
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 9
- 239000007921 spray Substances 0.000 description 8
- 229910000831 Steel Inorganic materials 0.000 description 4
- 239000010959 steel Substances 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000003466 welding Methods 0.000 description 3
- 238000005422 blasting Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000010422 painting Methods 0.000 description 2
- 239000002893 slag Substances 0.000 description 2
- 239000003381 stabilizer Substances 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 238000010297 mechanical methods and process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000005488 sandblasting Methods 0.000 description 1
- 231100000241 scar Toxicity 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B05—SPRAYING OR ATOMISING IN GENERAL; APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D—PROCESSES FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL
- B05D1/00—Processes for applying liquids or other fluent materials
- B05D1/02—Processes for applying liquids or other fluent materials performed by spraying
-
- 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
-
- 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
- B05B12/124—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 responsive to distance between spray apparatus and target
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B73/00—Building or assembling vessels or marine structures, e.g. hulls or offshore platforms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B73/00—Building or assembling vessels or marine structures, e.g. hulls or offshore platforms
- B63B73/60—Building or assembling vessels or marine structures, e.g. hulls or offshore platforms characterised by the use of specific tools or equipment; characterised by automation, e.g. use of robots
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Architecture (AREA)
- Structural Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pest Control & Pesticides (AREA)
- Aviation & Aerospace Engineering (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
Abstract
The invention is suitable for the technical field of ship manufacturing, and provides an automatic adjustment spraying process for ship surface spraying, which comprises the following steps: treating the surface of the ship body before coating; preparing a spraying unmanned plane; controlling the spraying unmanned aerial vehicle to approach the ship body to a set distance; controlling the spraying unmanned aerial vehicle to rotate in a horizontal plane, so that the measurement distances of the left and right distance sensors are the same, and adjusting the pitching angle of the spraying head of the spraying unmanned aerial vehicle according to the distance value measured by the upper and lower distance sensors, so that the spraying head is perpendicular to the corresponding hull surface of the current position of the unmanned aerial vehicle; and controlling the movement of the spraying unmanned aerial vehicle according to the set spraying track, and controlling the gesture and the spraying head angle of the unmanned aerial vehicle through four distance sensors in the moving process to finish the spraying of the ship body target area. The distance between the unmanned aerial vehicle and the ship body is calculated through the left and right distance sensors, the horizontal direction of the spraying head is controlled, the pitching direction of the spraying head can be calculated through the upper and lower distance sensors, the spraying angle of the unmanned aerial vehicle is ensured, and the spraying uniformity and quality are ensured.
Description
Technical Field
The invention belongs to the technical field of ship manufacturing, and particularly relates to an automatic adjustment spraying process for ship surface spraying.
Background
When spraying paint to the hull outer wall, generally adopt paint spraying system, the paint spraying equipment in the current spraying operation is operated by the manual work, and the speed is unstable easily at the operation in-process, can not guarantee at any time at uniform velocity operation, if paint spraying equipment is unstable at the operation in-process speed, then wait to handle the surface and can appear that the surface cleanliness is inconsistent, and the inconsistent even surface of leaking the processing probably appears in spun film thickness.
In order to improve efficiency and uniformity of spraying, various spraying robots are also on the market at present, and proper automatic spraying robots for ship hulls are researched and manufactured, so that spraying quality is greatly improved, efficiency is improved, human body injury is reduced, and an boosting enterprise is automatically upgraded, so that the automatic spraying robot has good application effect and wide application prospect. There are two types of spray robots: one is a robot arranged off-shore, and spraying on the surface of a ship body is realized by controlling a mechanical arm; the other is to arrange a movable shipborne spraying robot on the deck of the ship body, and spraying is completed through a hanging arm which sags. However, the two modes have obvious problems, the offshore robot is applicable to the ship with limited tonnage, and spraying cannot be performed when the distance is far and the ship is high; the ship-borne spraying robot has poor visual field, cannot observe the spraying condition, is inconvenient to operate, and is easy to solve the problems of uneven spraying and missing spraying.
In the technical field of ship spraying, no unmanned aerial vehicle is used for spraying at present. In the related art, for example, in the technology of painting and sandblasting the exterior wall of a building, there is also a report of the technology of painting by an unmanned aerial vehicle. The technical advantage of spraying through the unmanned aerial vehicle is obvious, and is not limited by the size and the position of the ship body. However, the technical requirements of wall spraying and hull spraying are obviously different, the requirements of hull spraying on spraying uniformity are higher, quantitative spraying of a spray head perpendicular to the surface of the hull is required, and the existing unmanned aerial vehicle spraying technology cannot be directly applied to ship spraying at present.
Disclosure of Invention
In view of the above problems, the invention aims to provide an automatic adjustment spraying process for ship surface spraying, which aims to solve the technical problem of uneven spraying in the existing spraying method.
The invention adopts the following technical scheme:
the automatic adjustment spraying process for the ship surface spraying comprises the following steps:
s1, treating the surface of a ship body before coating;
s2, preparing a spraying unmanned aerial vehicle, wherein the spraying unmanned aerial vehicle is provided with a distance sensor in bilateral symmetry, and is provided with a distance sensor in vertical symmetry, and four sensors are arranged in a cross shape;
s3, controlling the spraying unmanned aerial vehicle to approach the ship body to a set distance;
s4, controlling the spraying unmanned aerial vehicle to rotate in a horizontal plane, so that the measurement distances of the left and right distance sensors are the same, and adjusting the pitching angle of the spraying head of the spraying unmanned aerial vehicle according to the distance value measured by the upper and lower distance sensors, so that the spraying head is perpendicular to the corresponding hull surface of the current position of the unmanned aerial vehicle;
and S5, controlling the movement of the spraying unmanned aerial vehicle according to the set spraying track, and controlling the gesture of the unmanned aerial vehicle and the pitching angle of the spraying head through the distance output values of the four distance sensors in the moving process to finish the spraying of the ship body target area.
Further, the distance between the upper and lower distance sensors is d0, the measurement distance of the upper distance sensor is d1, the measurement distance of the lower distance sensor is d2, and the pitch angle of the spraying head of the spraying unmanned aerial vehicle is
Further, the average value of the measured distances output by the left and right distance sensors is used as the distance between the spraying unmanned aerial vehicle and the ship body, and in step S5, the distance between the spraying unmanned aerial vehicle and the ship body is kept within a set distance range in the moving process of the spraying unmanned aerial vehicle.
Further, spraying unmanned aerial vehicle includes the organism, all there is a cantilever all around the organism, the cantilever end has the screw, and there is a stabilizer blade in every cantilever bottom, the bottom of the body is the coating case, and the spraying head is located the organism openly, there is the control box at the organism top, an upper and lower guide arm of all installing about the organism, distance sensor is installed to the guide arm end.
Further, the set spraying track is a serpentine track from top to bottom and from left to right, and the up-and-down moving speed of the spraying unmanned aerial vehicle is v=v 0 * cos α, where V0 is the speed standard value.
The beneficial effects of the invention are as follows: according to the invention, the distance sensors are respectively arranged on the upper part, the lower part and the left part of the unmanned aerial vehicle in a bilateral symmetry way, the distance between the unmanned aerial vehicle and the hull is calculated through the left and right distance sensors, the measuring distances of the left and right distance sensors are controlled to be consistent, the horizontal direction of the spraying head can be controlled, the pitching direction of the spraying head can be calculated from the upper and lower distance sensors, the control of the spraying head of the unmanned aerial vehicle is further completed, the spraying angle of the spraying head of the unmanned aerial vehicle can be ensured, and the spraying uniformity and quality are ensured.
Drawings
FIG. 1 is a flow chart of an automatic adjustment spraying process for spraying a ship surface according to an embodiment of the present invention;
fig. 2 is a block diagram of the spraying unmanned aerial vehicle provided by the embodiment of the invention;
fig. 3 is a schematic diagram of pitch angle calculation according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
In order to illustrate the technical scheme of the invention, the following description is made by specific examples.
Fig. 1 shows a flow of an automatic adjustment spraying process for spraying a ship surface according to an embodiment of the present invention, and only a portion related to the embodiment of the present invention is shown for convenience of explanation.
As shown in fig. 1 and 2, the automatic adjustment spraying process for spraying the surface of the ship provided by the embodiment comprises the following steps:
s1, treating the surface of the ship body before coating.
Before coating, the hull structure and outfitting parts should be checked to be installed completely, deformation is corrected, residues are removed, and the coating range is defined. The edges of the segments are welded, tested for tightness and shielded at the areas where the segments should not be coated.
In addition, for the steel plate treatment rust removal of the hull surface, the rust removal standard can be used as "hull rust removal standard" (CB. 3092-81), and the steel plate treatment rust removal method adopts shot blasting (spraying) to remove rust and reaches the Sa2.5 level. The steel surface which cannot be derusted by adopting the shot blasting (spraying) method can be derusted manually to reach St2 level. If the primary rust removal is not thorough or the ship body is damaged locally to cause local rust before coating, secondary rust removal is carried out, sharp corner burrs at the edges, the holes and the like of the steel are flattened, and welding spatter and welding slag are eliminated.
Before coating, rust, greasy, dust, slag adhered during welding and other matters should be cleaned, and the weld scar should be leveled and kept dry.
S2, preparing a spraying unmanned aerial vehicle, wherein the spraying unmanned aerial vehicle is provided with a distance sensor in bilateral symmetry, the upper and lower symmetry is provided with a distance sensor, and the four sensors are arranged in a cross shape.
The paint spraying is to spray primer first, then to spray finish, and the spraying method is consistent. After the paint is uniformly mixed according to the proportion, the paint can be used after being filtered by a 60-80-mesh filter screen, the proportion is correct, and visual estimation is forbidden.
Before the paint is used, the paint is stirred evenly by a manual or mechanical method and then is injected into a paint box. As a concrete structure of unmanned aerial vehicle, as shown in fig. 2, including organism 1, all there is a cantilever 2 all around organism 1, cantilever 2 end has screw 3, and there is a stabilizer blade 4 in every cantilever 2 bottom, and unmanned aerial vehicle of being convenient for takes off and descends, organism 1 bottom is coating case 4, and spray coating head 5 is located organism 1 openly, the organism top has control box 6, an arm 7 is all installed about organism 1, distance sensor 8 is installed to the arm end.
The spraying head can rotate in a pitching mode and is controlled by the control box. In this embodiment, the control box performs the state control of the unmanned aerial vehicle according to the output values of the four distance sensors.
S3, controlling the spraying unmanned aerial vehicle to approach the ship body to a set distance.
The set distance is a distance range, for example, the set distance is 1.2 meters, and the error is 0.10 meters. The average value of the measured distances output by the left and right distance sensors is used as the distance between the spraying unmanned aerial vehicle and the ship body.
S4, controlling the spraying unmanned aerial vehicle to rotate in the horizontal plane, enabling the measuring distances of the left and right distance sensors to be the same, adjusting the pitching angle of the spraying head of the spraying unmanned aerial vehicle according to the distance value measured by the upper and lower distance sensors, and enabling the spraying head to be perpendicular to the corresponding hull surface of the current position of the unmanned aerial vehicle.
The unmanned aerial vehicle keeps a horizontal state in the flying process. The left and right distance sensors are symmetrically arranged, and the distance sensors are laser sensors. Considering that the surface of the ship body is larger than the area of the unmanned aerial vehicle, the spraying point position range of the unmanned aerial vehicle can be approximately regarded as a plane compared with the surface of the ship body. However, for the position where the surface of the ship body is arc-shaped, each spraying point can be regarded as an inclined plane, and the spraying head needs to be controlled to be vertical to the inclined plane as much as possible.
During specific control, the horizontal angle of the unmanned aerial vehicle is adjusted through the measuring distance of the left and right distance sensors, so that the measuring distances of the two distance sensors are the same, and then the pitching angle of the spraying head is adjusted. In this embodiment, the distance between the upper and lower distance sensors is d0, the measurement distance of the upper distance sensor is d1, the measurement distance of the lower distance sensor is d2, and the pitch angle of the spray head of the spraying unmanned aerial vehicle isIf the current ship spray point is inclined downward in the vertical direction, as shown in fig. 3, the elevation angle is positive upward and negative downward, so that the elevation angle of the spray head can be calculated to be +.>The spraying head can be basically enabled to spray vertical to the surface of the ship body through adjustment, the implementation method is simple, and various detection sensors are not needed.
Even if the surface of the hull is irregular, or by
And S5, controlling the movement of the spraying unmanned aerial vehicle according to the set spraying track, and controlling the gesture of the unmanned aerial vehicle and the pitching angle of the spraying head through the distance output values of the four distance sensors in the moving process to finish the spraying of the ship body target area.
The ship body is sprayed and divided into a plurality of target areas, and spraying is carried out on the target areas one by one. For each spraying target area, the set spraying track is a serpentine track from top to bottom and from left to right, so that the spraying consistency is good and the efficiency is high. In the process of moving the unmanned aerial vehicle up and down, the unmanned aerial vehicle does not move at a constant speed, and in this embodiment, the up and down moving speed of the spraying unmanned aerial vehicle is v=v 0 * cos α, where V0 is the speed standard value. Under the vertical plane, unmanned aerial vehicle installs speed markThe quasi-value moves, at the inclined plane position, the unmanned aerial vehicle is according to V=V 0 * The cos alpha speed moves, and the length of the inclined plane is larger than that of the vertical surface under the condition of equal height difference, so that the speed of the unmanned aerial vehicle is required to be reduced, and the spraying uniformity is ensured.
Of course, in the whole moving process, the distance between the spraying unmanned aerial vehicle and the ship body needs to be kept within a set distance range.
According to the embodiment of the invention, the distance between the unmanned aerial vehicle and the ship body is calculated through the left and right distance sensors, the measuring distance of the left and right distance sensors is controlled to be consistent, the horizontal direction of the spraying head can be controlled, the pitching direction of the spraying head can be calculated from the upper and lower distance sensors, the control of the spraying head of the unmanned aerial vehicle is further completed, the spraying angle of the spraying head of the unmanned aerial vehicle can be ensured, and the spraying uniformity and quality are ensured.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (1)
1. The automatic adjustment spraying process for the ship surface spraying is characterized by comprising the following steps of:
s1, treating the surface of a ship body before coating;
s2, preparing a spraying unmanned aerial vehicle, wherein the spraying unmanned aerial vehicle is provided with a distance sensor in bilateral symmetry, and is provided with a distance sensor in vertical symmetry, and four sensors are arranged in a cross shape;
s3, controlling the spraying unmanned aerial vehicle to approach the ship body to a set distance;
s4, controlling the spraying unmanned aerial vehicle to rotate in a horizontal plane, so that the measurement distances of the left and right distance sensors are the same, and adjusting the pitching angle of the spraying head of the spraying unmanned aerial vehicle according to the distance value measured by the upper and lower distance sensors, so that the spraying head is perpendicular to the corresponding hull surface of the current position of the unmanned aerial vehicle;
s5, controlling the movement of the spraying unmanned aerial vehicle according to the set spraying track, controlling the gesture of the unmanned aerial vehicle and the pitching angle of the spraying head through the distance output values of the four distance sensors in the moving process, and finishing spraying of the ship body target area;
wherein, the interval of upper and lower distance sensor is d0, and the measuring distance of upper distance sensor is d1, and the measuring distance of lower distance sensor is d2, and the pitch angle of spraying unmanned aerial vehicle spraying head isIn step S5, the distance between the spraying unmanned aerial vehicle and the hull is kept within a set distance range during the movement process of the spraying unmanned aerial vehicle;
the spraying unmanned aerial vehicle comprises a machine body, wherein the periphery of the machine body is provided with a cantilever, the tail end of the cantilever is provided with a propeller, the bottom of each cantilever is provided with a supporting foot, the bottom of the machine body is provided with a paint box, a spraying head is positioned on the front surface of the machine body, the top of the machine body is provided with a control box, the upper part, the lower part, the left part and the right part of the machine body are provided with a guide rod, and the tail end of the guide rod is provided with a distance sensor;
the set spraying track is a serpentine track from top to bottom and from left to right, and the up-down moving speed of the spraying unmanned aerial vehicle is V=V 0 * cos α, where V0 is the speed standard value.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211208982.4A CN115350881B (en) | 2022-09-30 | 2022-09-30 | Automatic adjustment spraying process for ship surface spraying |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211208982.4A CN115350881B (en) | 2022-09-30 | 2022-09-30 | Automatic adjustment spraying process for ship surface spraying |
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| Publication Number | Publication Date |
|---|---|
| CN115350881A CN115350881A (en) | 2022-11-18 |
| CN115350881B true CN115350881B (en) | 2023-09-12 |
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| CN202211208982.4A Active CN115350881B (en) | 2022-09-30 | 2022-09-30 | Automatic adjustment spraying process for ship surface spraying |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003225599A (en) * | 2002-01-31 | 2003-08-12 | Pauretsuku:Kk | Coating apparatus |
| CN111451057A (en) * | 2020-05-02 | 2020-07-28 | 北京花兰德科技咨询服务有限公司 | Spraying robot and spraying method |
-
2022
- 2022-09-30 CN CN202211208982.4A patent/CN115350881B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2003225599A (en) * | 2002-01-31 | 2003-08-12 | Pauretsuku:Kk | Coating apparatus |
| CN111451057A (en) * | 2020-05-02 | 2020-07-28 | 北京花兰德科技咨询服务有限公司 | Spraying robot and spraying method |
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| Publication number | Publication date |
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| CN115350881A (en) | 2022-11-18 |
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