Research On Ship Subsection Automatic Spray Painting Method And System Based On Machine Vision

At present,the manual spray painting method is still adopted by most domestic large ship spray painting industries.The labor intensity is high,the human health is endangered,the spray painting quality is unstable,and the repeated spray painting rate of the ship subsection is high,which seriously restricts the improvement of production efficiency.This project is supported by the National Natural Science Foundation of China(61503162,51505193)and the Natural Science Foundation of Jiangsu Province(BK20150473),and based on the analysis of ship subsection spray painting process,this paper has studied the large-scale ship subsection automatic spray painting method based on machine vision and some key problems in the ship subsection automatic spray painting system.The main contents are as follows:Firstly,aiming at the problem of multiple types and large volume of ship subsection,the machine vision is introduced into the robot spray painting system,and the overall scheme of ship subsection automatic spray painting system based on machine vision is designed.The system is mainly composed of three parts: conveying module,machine vision module and spray painting robot module.The real-time detection of the outer surface workpiece of hull subsection,the pixel measurement and the automatic planning of the end spray gun path are realized,which meets the requirements for the automatic spray painting operation of the outer surface workpiece of the hull subsection.Secondly,the image processing and detection measurement algorithms of ship subsection workpiece are studied,and the algorithms of image filtering noise reduction and edge operator detection are compared to select the algorithm suitable for this paper.The image processing software for the ship subsection automatic spray painting system is designed using OpenCV and QT to achieve edge detection and pixel measurement of the workpiece and to ensure the path planning of the spray painting robot.Thirdly,the spray path of the super-large hull surface is selected,and the results show that the spray path should be parallel to the long side.This can save the spray painting time and improve the spray painting efficiency.The outer surface of the hull is mainly composed of plane and small curvature surface,and the paint thickness model of plane and small curvature surface is established respectively.With the aim of paint thickness uniformity,the optimization function is established and optimized to obtain the optimal spraying speed and stroke spacing to ensure the spraying efficiency.Fourthly,the establishment of automatic spray painting system for ship subsection.Robot Studio software is used to build the workstation of the ship subsection automatic spray painting system.The components of the whole automatic spray painting system for ship subsection are introduced,and design and automatic spray painting simulation of hull subsection simulation.The feasibility and effectiveness of the ship subsection automatic spray painting system are verified by software programming simulation.