Study Of The Wall-climbing Robots Used For Hull Painting

The wall-climbing robots used for hull painting are special robots that can move freely on the ship hull and paint independently, and also fuse multidisciplinary advanced technology, such as autocontrol, communication technology, image processing and artificial intelligence. They have vast application prospects in the field of shipbuilding and repairing.The developing process of the wall-climbing robots used for hull painting is expounded in this article.The main aspects are as follows.1.Through summing up and analyzing the current research on and application of the wall-climbing robots in the world,it expounds the real significance of developing the wall-climbing robots used for hull painting.2.On the basis of the relevant literature, to meet the needs of hull painting, such as the wall-climbing robots'load capacity, mobile rates, and control and so on, we use Permanent-Magnetic Adhesion, track moving, chain transmission, AC servo motor drive for noumenal structural design of robot. Basis on this scheme, we designed adhesion mechanism, drive train, drivemechanism and painting mechanism.3.Based on the ontology structure of the wall-climbing robots used for hull painting, to meet the control requirements, we use distributing control system with Personal Computer as supervisory computer and singlechip AT89C51 as lower computer. It was collected the external enviroment information from distance sensor,and using RS485 bus for wall-climbing robot and computer communications, in order to enabling feedback the on-site information and send computer control commands.The hardware of slave computer were designed in detail, software of the host and slave computer control system were designed with VC++ language and assembly language respectively.4.Basis on two distributed control scheme,the vision system of the wall-climbing robot used for hull painting was designed emphasis.Wireless surveillance cameras and receiver with USB interfaces were used in vision system.According to real time acquisition and image processing of grayscale transformation,filter and other processing, according to the histogram check the quality of the paiting in order to decide to re-paint or not. To ensure the spray-paint go smoothly. Finally, the vision system software was programmed.5.Select the optimal path of painting by calculating,and simulat the moving trajectory of robot with Matlab.