Research And Design Of A System For Contour Detection And Repainting Of Ship Coating

In the ship building industry,the high temperature caused by soldering would damage the surface coating of the hull,so it's necessary to polish off the damaged coating and repaint these areas.So far ship coating repainting work is still done manually,which is inefficient,and due to its poor work environment and high risk,the cost of hiring workers is increasing year by year.Focused on the above issue,a ship painting auto repainting robot was designed,and its vision system was studied in detail.The core algorithm of the vision system-coating contour detection was realized,and based on it,painting path planning was done and the transformation formula from path planning points in the image coordinate system to the world coordinate system was deduced.First,this paper explained in detail the background and significance of the subject,described the existing problems,introduced briefly the research status in the relevant fields,and introduced the contents and the main difficulty of this paper.Second,the work program of the system was designed,and the mechanical and vision system were described as a whole.The deficiency of the existing contour detection algorithm was analyzed and then a new idea of a contour detection algorithm based on image segmentation was proposed.Third,multi-threshold image segmentation problem was studied.The multi-threshold image segmentation algorithm suitable to ship coating images was chosen by experiments,and focused on its low computational efficiency issue,an intelligent optimization algorithm was designed to accelerate.At last,its computational efficiency was further optimized at the software level.Fourth,focused on the issue that image segmentation is vulnerable to environmental impact,an image preprocessing program was designed.Then,based on the realization of image segmentation,the coating contour detection algorithm was designed and its effect was verified by experiments.Finally,the control system of the robot was described as a whole.Based on the realization of contour detection,two programs of painting path planning were designed,the transformation formula from path planning points in the image coordinate system to the world coordinate system,which is the work coordinate system of the robot,was solved,and the image processing part of the system software was wrote.