Off-line digital-analog planning system and method for spraying operation of large ship body sections

Abstract

The invention discloses an off-line digital-analog planning system and method for spraying operation of large ship body sections. The method comprises the steps that a spraying work station which is the same as an actual spraying site is built in simulation software according to the actual spraying site; a to-be-sprayed segmented ship body model is imported into the simulation work station, and a distance measuring sensor is used for positioning a crown block, a robot, a spray gun and a hull workpiece; to-be-sprayed areas of the segmented ship body are delimited, and path planning is conducted on all the areas through a path planning module; an improved grey wolf algorithm is adopted to optimize transition paths among the areas to obtain a final spraying path; a coordinate conversion module is used for converting spraying paths under a segmented ship body coordinate system B-xyz into path coordinates under a spray gun coordinate system, a spraying robot coordinate system and a crown block coordinate system, and the crown block, the robot and the spray gun move cooperatively; a paint film is detected, and a track is exported. The spraying model can be used for spraying different ship bodies only by building the model for the first time, operation is easy and convenient, and the automation degree is high.

Description

technical field [0001] The invention belongs to the technical field of spraying in the shipbuilding industry, and relates to a method suitable for a mobile spraying robot to spray large-scale workpieces such as super-large hulls, in particular to an off-line digital-analog planning system and method for large-scale hull segmented spraying operations. Background technique [0002] Large ships, due to long-term marine environment, have strict requirements on the anti-corrosion performance of the ship's surface, so the hull must be protected by painting during the construction process to ensure the safety of the ship's operation. [0003] In the prior art, there are many types of hull segments, and the shapes of the segments are also changeable, the scales of the sprayed surfaces are different, and the structural surfaces vary greatly. Different segments have various attitudes and angles on the tooling, which makes the positioning of the ship's workpieces inaccurate, making it ...

AI Technical Summary

Problems solved by technology

[0003] In the existing technology, there are many types of hull segments, and the shape of the segments is also changeable. The scale of the sprayed surface is different, and the structural surface changes greatly.

Different segments have various attitudes and angles on the tooling, which makes the positioning of the ship's workpieces inaccurate, making it more difficult to plan the spraying trajectory, which makes the spraying process complicated and difficult to ensure high-quality spraying. Require

At the same time, because the spraying operation is performed in an unstructured environment, except for the outdoor painting operation, the spraying environment in the painting workshop is completely closed, with poor lighting, dim working environment, irregular placement of workpieces, and space between the robot and the hull. It is difficult to determine the positioning relationship, and it is difficult to implement spraying; its coating production has a low degree of automation, serious environmental pollution, a lot of paint waste, unstable quality, and a high risk of injury to construction personnel

Images