Automatic planning method for intelligent spraying path of ship outer plate based on unmanned aerial vehicle

Abstract

The invention discloses an automatic planning method for an intelligent spraying path of a ship outer plate based on an unmanned aerial vehicle. The method comprises the following steps of: (1) collecting an image of the ship outer plate by using the unmanned aerial vehicle; (2) performing three-dimensional reverse modeling on the ship outer plate, and classifying the ship outer plate model according to the regularity of the shape; (3) respectively planning the flight times and spraying path of the spraying unmanned aerial vehicle for a plane, a regular curved surface and a complex curved surface; and (4) generating the spraying path of the spraying unmanned aerial vehicle and the operation parameters of the unmanned aerial vehicle. According to the automatic planning method disclosed by the invention, the three-dimensional model of the ship outer plate is quickly generated, the flight speed, spraying pressure, spray gun distance and spraying path spacing of the spraying unmanned aerial vehicle for the plane, the regular curved surface and the complex curved surface are respectively optimized by a multi-objective particle swarm algorithm, and the automatic planning method has important significance for improving the spraying quality, resource utilization rate and operation efficiency of the spraying unmanned aerial vehicle.

Description

technical field [0001] The invention relates to a spraying method, in particular to an automatic planning method for an intelligent spraying path of a ship's outer plate based on an unmanned aerial vehicle, and belongs to the technical field. Background technique [0002] Ship painting is the process of implementing ship coating protection in the shipbuilding process, and it is one of the three pillars of modern shipbuilding technology. At present, the coating of the ship's outer plate in the shipyard mainly adopts the manual spraying operation method. [0003] Existing wall-climbing painting robots, frame rail painting robots and elevated car painting robots also have problems such as poor adaptability to complex curved surfaces, complex construction, and poor adaptability to different painting environments. The operation form of spraying process equipment carried by the drone platform can greatly improve the intelligence level of the ship spraying process. However, the e...

AI Technical Summary

Problems solved by technology

However, the existing technology has the following defects: the ship’s outer plate spraying UAV does not involve intelligent modeling of the spraying scene and intelligent path planning of the spraying, and the existing UAV spraying technology cannot adapt to complex surfaces well, nor can it play an infinite role. The advantages of trajectory rolling reduce the spraying quality, resource utilization, operating efficiency and intelligence level of drone spraying

Images