Marine repair platform and use method thereof

Abstract

The invention relates to a ship repair platform and a using method thereof, and belongs to the technical field of ship repair platforms, the ship repair platform comprises a movable base, an operation mechanical arm, an image recognition system and an intelligent control system, the movable base is provided with a magnetic attraction crawler belt and a hydraulic cylinder, and a vacuum suction cup is installed at the driving end of the hydraulic cylinder; a safety rope ring and a bearing base are fixedly installed on the movable base, the bearing base is rotationally connected with a loading platform, the three operation mechanical arms are evenly installed on the top of the loading platform, the three operation mechanical arms are provided with a high-pressure water gun, a laser rust removal head and a paint spraying nozzle correspondingly, and a device support is fixedly installed on the movable base. The device support is provided with an electric holder. According to the method, the damaged area of the outer wall of the ship body can be automatically recognized, cleaning, dirt removal and paint make-up operation can be accurately executed, the manual intervention requirement is reduced, and the maintenance efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of ship repair platforms, and particularly to a marine repair platform and a method for using the same. Background Art

[0002] After a ship has been in operation for a period of time, it needs to be regularly overhauled ashore to reduce the probability of accidents during navigation. During the ship repair process, workers usually need to work on the outer wall of the hull to perform operations such as cleaning, decontamination, and painting on the outer wall of the hull.

[0003] Existing traditional repair platforms mainly rely on manual high-altitude operations. Such repair methods have the following defects: 1. There are safety hazards. Workers need to climb or hang on the outer wall of the ship, and it is easy to have falling accidents; 2. The repair efficiency is low. The accuracy of manual detection of stains or coating damage is low, and the operation cycle is long; 3. Poor adaptability: It is difficult to thoroughly process complex hull surfaces. Therefore, a marine repair platform and a method for using the same are proposed. It can autonomously identify the damaged areas on the outer wall of the ship, accurately perform cleaning, decontamination, and painting operations, reduce the need for manual intervention, and improve the repair efficiency. Summary of the Invention

[0004] The present invention provides a marine repair platform and a method for using the same, which solve the problems raised in the above-mentioned background art. It can autonomously identify the damaged areas on the outer wall of the ship, accurately perform cleaning, decontamination, and painting operations, reduce the need for manual intervention, and improve the repair efficiency.

[0005] The solution of the present invention to the above technical problems is as follows: A marine repair platform includes a mobile base, an operation robotic arm, an image recognition system, and an intelligent control system. The mobile base is provided with magnetic adsorption crawlers and hydraulic cylinders. The driving end of the hydraulic cylinder is installed with a vacuum suction cup. The mobile base is fixedly installed with a safety rope loop and a load-bearing base. The load-bearing base is rotatably connected to a loading platform. There are three operation robotic arms. The three operation robotic arms are evenly installed on the top of the loading platform. The three operation robotic arms are respectively equipped with a high-pressure water gun, a laser rust removal head, and a paint spraying nozzle. The mobile base is fixedly installed with a device support, and the device support is installed with an electric pan-tilt;

[0006] The image recognition system includes a camera, a lidar, and an infrared sensor. The camera is installed at the electric pan-tilt;

[0007] The intelligent control system includes a central processing unit, a dynamic compensation system, and a human-machine interface;

[0008] The method for using it includes the following steps:

[0009] S1: Initialization stage: Activate the magnetic adsorption crawlers and hydraulic cylinders of the mobile base to adsorb on the hull surface;

[0010] LiDAR scans the hull contour, generates 3D point cloud data and builds an operation map

[0011] Use infrared sensors to detect ambient temperature and humidity and initialize the parameters of the paint spraying module;

[0012] S2: Image recognition and damage analysis: The camera collects images of the hull surface and transmits them to the central processor;

[0013] The image is segmented based on the pre-trained convolutional neural network (CNN) model to distinguish the regions. The normal coating area is marked as green, the oily and biologically attached stains are marked as yellow, and the rusted or coating-shedding areas are marked as red.

[0014] Through multi-spectral sensor data fusion, the damage type is further verified;

[0015] S3: Operation path planning: mapping the coordinates of the damaged area to a three-dimensional operation map;

[0016] Plan the movement path of the mobile base and the operating robot arm it carries, giving priority to high-risk areas;

[0017] The dynamic obstacle avoidance module detects protrusions such as rivets and welds and adjusts the path to avoid collision;

[0018] S4: Dynamic execution and compensation: The operating robot arm switches to the corresponding high-pressure water gun, laser rust removal head, and paint spray head tool module. The three operating robot arms can handle different tasks;

[0019] The gyroscope monitors the hull shaking in real time and adjusts the joint angle of the robotic arm through the PID controller;

[0020] During the painting process, the pressure sensor feeds back the paint film thickness and adjusts the spray flow rate adaptively;

[0021] S5: Quality inspection and closed-loop optimization: After the work is completed, the camera scans the surface again to compare the images before and after the repair;

[0022] If the preset standard is not met, such as paint film coverage <95%, mark the area and re-plan the local work;

[0023] Upload the data of this operation to the cloud to optimize the iterative training of the model.

[0024] Based on the above technical solution, the present invention can also be improved as follows.

[0025] Furthermore, the mobile base is equipped with a gyroscope, which can detect the platform posture and adjust the operation robot arm movement in real time to offset the impact of the hull shaking.

[0026] Furthermore, the working robotic arm adjusts the angle of the pipe fitting through a PID controller. The gyroscope monitors the hull sway in real time, and adjusts the joint angle of the robotic arm through the PID controller to keep the working head perpendicular to the hull surface.

[0027] Furthermore, a pressure sensor is installed on the paint spraying nozzle. During the paint spraying process, the pressure sensor feeds back the paint film thickness and adaptively adjusts the spraying flow rate.

[0028] Furthermore, a brake stepping motor is fixedly installed on the load-bearing base. The driving end of the brake stepping motor is fixedly connected to the loading platform, so that the loading platform can rotate stably on the load-bearing base, thereby adjusting the angle of the working robotic arm in the axial angle.

[0029] The beneficial effects of the present invention are as follows: The present invention provides a marine repair platform and its usage method, having the following advantages:

[0030] 1. Through the magnetic adsorption crawler and the vacuum adsorption system, the platform can move autonomously on the outer wall of the ship, completely eliminating the risk of falling for workers climbing or hanging operations, making the ship repair operation safer;

[0031] 2. The path planning algorithm and the gyroscope attitude adjustment avoid the robotic arm from colliding with the protrusions on the hull, and maintain the working stability when the hull sways, reducing the risk of equipment damage. And a safety rope is provided to prevent the platform from falling;

[0032] 3. Based on the image segmentation technology of the multispectral sensor and the CNN algorithm, it can quickly identify the stain and rust areas, with an accuracy rate higher than manual visual inspection. Through the three-dimensional map and the algorithm, the platform plans the shortest path covering all damaged areas, reducing ineffective movement. Cleaning, rust removal, and paint spraying tool modules are respectively arranged at the three ends of the robotic arm, supporting one-key replacement, avoiding the time loss of traditional equipment handling, and thus effectively improving the working efficiency of ship repair work.

[0033] The above description is only an overview of the technical solution of the present invention. In order to be able to understand the technical means of the present invention more clearly and implement it according to the content of the description, the following takes the preferred embodiment of the present invention and combines the attached drawings to describe in detail as follows. The specific implementation manner of the present invention is given in detail by the following embodiments and their attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The attached drawings described herein are used to provide a further understanding of the present invention, form a part of this application, and the schematic embodiments of the present invention and their descriptions are used to explain the present invention, and do not constitute an improper limitation to the present invention. In the drawings:

[0035] Figure 1 is a method flow chart of a marine repair platform and its usage method provided by an embodiment of the present invention;

[0036] Figure 2 Structural schematic diagram of a marine repair platform and its usage method provided by an embodiment of the present invention;

[0037] Figure 3 Front view of a marine repair platform and its usage method provided by an embodiment of the present invention.

[0038] In the attached drawings, the list of components represented by each reference numeral is as follows:

[0039] 1. Mobile base; 2. Operating robotic arm; 3. Magnetic adsorption crawler; 4. Hydraulic cylinder; 5. Vacuum suction cup; 6. Safety rope loop; 7. Load-bearing base; 8. Loading platform; 9. Brake stepping motor; 10. High-pressure water gun; 11. Laser rust removal head; 12. Paint spraying nozzle; 13. Device support; 14. Electric pan-tilt; 15. Camera. Detailed implementation manners

[0040] The following combines the attached Figures 1-3 Describe the principles and features of the present invention. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention. The present invention will be described more specifically by way of example in the following paragraphs with reference to the attached drawings. According to the following description and claims, the advantages and features of the present invention will be clearer. It should be noted that the attached drawings are all in a very simplified form and use non-precise scales, only for the purpose of conveniently and clearly assisting in explaining the purpose of the embodiments of the present invention.

[0041] It should be noted that when a component is referred to as being "fixed to" another component, it can be directly on the other component or there can also be an intermediate component. When a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be an intermediate component at the same time. When a component is considered to be "disposed on" another component, it can be directly disposed on the other component or there may be an intermediate component at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are only for the purpose of illustration.

[0042] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs. The terms used in the description of the present invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0043] Such as Figures 1-3As shown in the figure, the present invention provides a marine repair platform, which includes a mobile base 1, an operating robotic arm 2, an image recognition system, and an intelligent control system. The mobile base 1 is provided with a magnetic adsorption crawler 3 and a hydraulic cylinder 4. A vacuum suction cup 5 is installed at the driving end of the hydraulic cylinder 4. The mobile base 1 is fixedly installed with a safety rope loop 6 and a load-bearing base 7. The load-bearing base 7 is rotatably connected to a loading platform 8. There are three operating robotic arms 2, and the three operating robotic arms 2 are evenly installed on the top of the loading platform 8. The three operating robotic arms 2 are respectively equipped with a high-pressure water gun 10, a laser rust removal head 11, and a paint spraying nozzle 12. The mobile base 1 is fixedly installed with a device bracket 13, and an electric pan-tilt 14 is installed on the device bracket 13;

[0044] The image recognition system includes a camera 15, a lidar, and an infrared sensor. The camera 15 is installed at the electric pan-tilt 14;

[0045] The intelligent control system includes a central processor, a dynamic compensation system, and a human-machine interface.

[0046] Preferably, the mobile base 1 is installed with a gyroscope. Through the gyroscope, the platform attitude can be detected, and the actions of the operating robotic arm 2 can be adjusted in real time to offset the influence of the hull shaking.

[0047] Preferably, the operating robotic arm 2 adjusts the pipe fitting angle through a PID controller. The gyroscope monitors the hull shaking in real time, and adjusts the mechanical arm joint angle through the PID controller to keep the working head perpendicular to the hull surface.

[0048] Preferably, the paint spraying nozzle 12 is installed with a pressure sensor. During the paint spraying process, the pressure sensor feeds back the paint film thickness and adaptively adjusts the spraying flow rate.

[0049] Preferably, the load-bearing base 7 is fixedly installed with a brake stepping motor 9. The driving end of the brake stepping motor 9 is fixedly connected to the loading platform 8, so that the loading platform 8 can rotate stably on the load-bearing base 7, thereby adjusting the angle of the operating robotic arm 2 in the axial angle.

[0050] The specific working principle and usage method of the present invention are as follows: S1: Initialization stage: Activate the magnetic adsorption crawler 3 and the hydraulic cylinder 4 of the mobile base 1 to adsorb the hull surface;

[0051] The lidar scans the hull contour, generates three-dimensional point cloud data and constructs an operation map

[0052] Detect the environmental temperature and humidity through the infrared sensor, and initialize the parameters of the paint spraying module;

[0053] S2: Image recognition and damage analysis: The camera 15 collects the hull surface image and transmits it to the central processor;

[0054] Segment the image based on a pre-trained convolutional neural network (CNN) model, distinguish regions, mark the normal coating area as green, the areas with oil stains and biological attachment stains as yellow, and the rust or coating peeling areas as red;

[0055] Further verify the damage type through multi-spectral sensor data fusion;

[0056] S3: Operation path planning: Map the coordinates of the damaged area to a three-dimensional operation map;

[0057] Plan the moving path of the mobile base 1 and the operating robotic arm 2 it carries, and give priority to dealing with high-risk areas;

[0058] The dynamic obstacle avoidance module detects protrusions such as rivets and welds, and adjusts the path to avoid collisions;

[0059] S4: Dynamic execution and compensation: The operating robotic arm 2 switches to the corresponding tool modules of the high-pressure water gun 10, the laser rust removal head 11, and the paint spraying nozzle 12. The three operating robotic arms 2 can handle different tasks;

[0060] The gyroscope monitors the hull sway in real time, and adjusts the joint angles of the robotic arm through a PID controller;

[0061] During the paint spraying process, the pressure sensor feeds back the paint film thickness and adaptively adjusts the spraying flow rate;

[0062] S5: Quality inspection and closed-loop optimization: After the operation is completed, the camera 15 scans the surface a second time and compares the images before and after repair;

[0063] If the preset standard is not met, such as the paint film coverage rate < 95%, mark the area and re-plan the local operation;

[0064] Upload the data of this operation to the cloud to optimize the iterative training of the model.

[0065] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. The content not described in detail in this specification belongs to the prior art known to those skilled in the art.

[0066] The above are only the preferred embodiments of the present invention, and do not impose any form of limitation on the present invention; any ordinary technician in the industry can smoothly implement the present invention according to the illustrations in the specification and the above description; however, any minor changes, modifications, and equivalent variations made by those skilled in the art within the scope of the technical solution of the present invention by using the technical content disclosed above are equivalent embodiments of the present invention; at the same time, any equivalent changes, modifications, and evolutions made to the above embodiments based on the substantial technology of the present invention still fall within the protection scope of the technical solution of the present invention.

Claims

1. A marine repair platform, comprising a mobile base (1), a working robotic arm (2), an image recognition system, and an intelligent control system, characterized in that: The mobile base (1) is provided with a magnetic adsorption crawler (3) and a hydraulic cylinder (4). The driving end of the hydraulic cylinder (4) is installed with a vacuum suction cup (5). The mobile base (1) is fixedly installed with a safety rope loop (6) and a load-bearing base (7). The load-bearing base (7) is rotatably connected with a loading platform (8). There are three working robotic arms (2), and the three working robotic arms (2) are evenly installed on the top of the loading platform (8). The three working robotic arms (2) are respectively loaded with a high-pressure water gun (10), a laser rust removal head (11), and a paint spraying nozzle (12). The mobile base (1) is fixedly installed with a device bracket (13), and the device bracket (13) is installed with an electric pan-tilt (14); The image recognition system includes a camera (15), a lidar, and an infrared sensor. The camera (15) is installed at the electric pan-tilt (14); The intelligent control system includes a central processor, a dynamic compensation system, and a human-machine interaction interface; The usage method includes the following steps: S1: Initialization stage: Activate the magnetic adsorption crawler (3) and the hydraulic cylinder (4) of the mobile base (1) to adsorb the hull surface; The lidar scans the hull contour, generates three-dimensional point cloud data and constructs an operation map Detect the environmental temperature and humidity through the infrared sensor, and initialize the parameters of the paint spraying module; S2: Image recognition and damage analysis: The camera (15) collects the hull surface image and transmits it to the central processor; Based on the pre-trained convolutional neural network (CNN) model, segment the image, distinguish regions, mark the normal coating region as green, the regions with oil stains and biological attachment stains as yellow, and the regions with rust or coating peeling as red; Further verify the damage type through multi-spectral sensor data fusion; S3: Operation path planning: Map the coordinates of the damaged area to the three-dimensional operation map; Plan the moving path of the mobile base (1) and the working robotic arms (2) it carries, and give priority to processing high-risk areas; The dynamic obstacle avoidance module detects protrusions such as rivets and welds, and adjusts the path to avoid collisions; S4: Dynamic execution and compensation: The working robotic arm (2) switches to the corresponding tool modules of the high-pressure water gun (10), the laser rust removal head (11), and the paint spraying nozzle (12). The three working robotic arms (2) can handle different tasks; The gyroscope monitors the hull shaking in real time, and adjusts the robotic arm joint angle through the PID controller; During the paint spraying process, the pressure sensor feeds back the paint film thickness and adaptively adjusts the spraying flow rate; S5: Quality inspection and closed-loop optimization: After the operation is completed, the camera (15) scans the surface again and compares the images before and after repair; If the preset standard is not met, such as the paint film coverage rate < 95%, mark the area and re-plan the local operation; Upload the operation data of this time to the cloud and optimize the model iterative training.

2. The marine repair platform according to claim 1, characterized in that, The mobile base (1) is installed with a gyroscope.

3. The marine repair platform according to claim 1, characterized in that, The working robotic arm (2) adjusts the pipe fitting angle through the PID controller.

4. The marine repair platform according to claim 1, characterized in that, The paint spraying nozzle (12) is installed with a pressure sensor.

5. The marine repair platform according to claim 1, characterized in that, The load-bearing base (7) is fixedly installed with a brake stepper motor (9), and the driving end of the brake stepper motor (9) is fixedly connected to the loading platform (8).

Images