Design Of Automatic Painting System For Preventing Corrosion Of Tower

In the past decade,the development of industrial robots in our country has become more and more fierce and has penetrated into all work of life in society.With the rapid development of economic,the construction with ultra-high voltage and large-capacity transmission lines and its upgrading in China is proceeding in rapidly across the country.Especially the Pearl River Delta region is taking a large-scale transformation of power transmission systems.The anti-corrosion work of high-voltage wire towers is an basiclly important maintenance project to ensure safe power supply.Until now,the anti-corrosion work of the iron towers has been carried out manually and the power has to been cut off.The efficiency of the former tower's anti-corrosion electrification operation was low and there was a potential safety hazard.The latter caused a huge loss of power cuts.However,in nowadays,there were few cases where outdoor automatic anti-corrosion coating operations been performed for large-scale iron towers,and there were few similar research papers.Therefore,this research topic has far-reaching innovative significance in automated electrification.Application of industrial robot technology research based on the current backward and inefficient technology of iron tower corrosion,it research and design a high-voltage line tower with automated anti-corrosion system which improve the existing artificial iron tower anti-corrosion coating process,using advanced robots instead of manual spraying.The specific work and research results are mainly reflected in the following aspects:(1)Based on the actual application requirements of iron tower anti-corrosion,a complete set of anti-corrosion automatic spraying system for iron towers is designed.The design of spraying process,layout and selection of hardware structure are completed,and the rationality of the selection and configuration of each module is discussed.(2)Aiming at the difficulty of robotic spraying operation caused by the difficulty of positioning of aerial robots and the variety of objects to be sprayed,two image algorithms are proposed to solve this problem.They are the method for identifying the initial spraying point of iron towers and the identification method for towers.The principle of each method is described in detail.(3)About paint quality detection,a quality detection model based on three kinds of image contrast is proposed.(4)With regard to the problem of descriptive mapping of the anti-corrosive spray paint path of the iron tower,a path planning method based on graph theory is proposed and an example simulation is completed.The results showed its effectiveness.Finally,the kinematics analysis of the robot is performed.According to the actual end position and posture represented by the spray path,the joint variables of the robots are obtained by inverse kinematics of the robot kinematics,and the robot trajectory is effectively controlled.(5)Using MTALBT GUI software,the software of machine vision detection system for anti-corrosion of iron tower is designed,and the anti-corrosion automation workstation for iron tower is established by using robot simulation software Robot Studio.The simulation completed the spraying task of anti-corrosion applied on robot tower,and the result is mainly presented in the form of module code.The method proposed in this paper has been discussed strictly.The simulation test proves the advanced nature and reliability of this system,and provides a new design method for the future research of iron tower anti-corrosion automation equipment.