Automatic nozzle steering structure, control method and rust removal device

Abstract

The present invention provides an automatic nozzle steering structure, a control method and a rust removal device. The structure includes a rotating table, an adjusting component fixed on the rotating table, and a control system. The present invention fixes the nozzle on the adjusting component, calculates the position information of the rusted part through the control system, and utilizes the horizontal rotation of the rotating table and the pitch rotation of the adjusting component to adjust the spraying angle of the nozzle. The entire adjustment process is fully automated, which greatly improves work efficiency and avoids the adverse working conditions affecting the health of workers.

Description

Technical Field

[0001] The invention relates to the technical field of jet nozzles, and in particular to an automatic nozzle steering structure, a control method and a rust removal device. Background Art

[0002] Rust removal is an important task in ship maintenance, which involves the metal surface treatment inside and outside the hull. Since ships operate in seawater, moisture and air for a long time, their metal structures are susceptible to corrosion, especially inside the closed cabin, where the environment is more severe and the rust is more serious. Therefore, regular cabin rust removal can not only ensure the safety performance of the ship, but also extend its service life.

[0003] Traditional methods of cabin rust removal mainly include sandblasting, high-pressure water jet cleaning, and laser rust removal. However, the nozzles in the cabin rust removal equipment currently on the market are usually fixed and cannot automatically adjust the spray angle. Due to the complex spatial structure in the cabin, fixed nozzles are often difficult to adapt to the rust removal needs of various angles and positions. Workers need to move and adjust equipment frequently, which greatly reduces work efficiency. In addition, since the nozzle cannot be flexibly adjusted, operators are exposed to the harsh working conditions of rust removal for a long time, which will cause a certain degree of damage to their health. Therefore, it is particularly necessary to develop a steering structure that can automatically adjust the spray angle. Summary of the invention

[0004] In view of the problem that the nozzles currently used for cabin rust removal cannot automatically adjust the spray angle, the present invention provides an automatic nozzle steering structure, a control method and a rust removal device. Based on the rotating table and adjustment components designed by the present invention, the spray angle of the nozzle is adjusted according to the calculated coordinates of the rusted parts, which greatly improves the work efficiency and avoids the adverse working conditions affecting the health of the workers.

[0005] The present invention achieves the above technical objectives through the following technical means.

[0006] An automated nozzle steering structure, characterized in that it comprises a rotating table, an adjustment component fixed on the rotating table, and a control system;

[0007] The rotating table comprises a shell, a plurality of support columns fixed in the shell, a workbench arranged at the upper end of the shell, an outer gear ring arranged on the lower end surface of the workbench, a first driving wheel meshed with the outer gear ring, and a first motor connected to the first driving wheel through an output shaft; the support columns are distributed in a circular array, and a rolling ball is movably embedded in the top surface of the support columns, and an annular guide rail adapted to the rolling ball is provided at the contact position between the workbench and the support columns;

[0008] The adjustment assembly includes a pair of mounting seats, a driven shaft rotatably connected to the mounting seats, a driven wheel fixed to one end of the driven shaft, a driving shaft rotatably connected to the mounting seats, a second driving wheel fixed to one end of the driving shaft and meshing with the driven wheel, and a second motor for driving the driving shaft; a mounting platform for fixing the nozzle is provided on the driven shaft;

[0009] The control system comprises:

[0010] An image acquisition device, used for acquiring surrounding images;

[0011] The recognition module pre-processes the collected images, determines the rusted parts according to the color degree, and quantifies the rust degree;

[0012] The positioning module calculates the coordinate information of all corroded parts in three-dimensional space based on the collected images;

[0013] The path planning module designs the optimal nozzle movement path according to the coordinate information of the rusted part and the degree of rust, calculates the angle required for each movement of the mounting platform based on the orientation of the mounting platform when the image is collected, and transmits the adjustment signal to the controller;

[0014] The controller outputs a control signal according to the adjustment signal to drive the first motor and the second motor to adjust the spray angle of the nozzle on the mounting table. After the nozzle moves to the preset position, it starts to remove rust. After the work is completed, the spray angle continues to be adjusted to the next preset position.

[0015] Furthermore, the image acquisition device is three high-definition industrial cameras installed on a mounting table and transparent dust covers mounted outside the three high-definition industrial cameras. The shooting angle range of the high-definition industrial cameras is 112°.

[0016] Furthermore, the output shaft of the second motor is connected to the driving shaft through a coupling.

[0017] Furthermore, bearings are provided at the connection positions of the driving shaft, the driven shaft and the mounting seat.

[0018] Furthermore, the horizontal position of the lower surface of the workbench is lower than the upper surface of the shell.

[0019] Any of the above control methods for the automatic nozzle steering structure is characterized by comprising the following steps:

[0020] S1: Image acquisition: collect images of the cabin surface;

[0021] S2: Identify the rusted parts: pre-process the collected image to generate a number of marked areas, extract color features in the marked areas and identify the rusted parts and the degree of rust; if no rust is detected in the image, repeat S1 to continue collecting images and detect whether there is rust in the field of view; if rust is detected in the image, proceed to step S3;

[0022] S3: Calculate position information: Based on the acquired image, the coordinate information of all corroded parts in the three-dimensional space is calculated by the homogeneous coordinate transformation relationship between the image coordinate system and the world coordinate system; then, based on the orientation of the mounting table when the image is acquired, the angle required for adjusting the mounting table is calculated, and the adjustment signal is transmitted to the controller;

[0023] S4: designing the optimal nozzle movement path according to the coordinate information of the rusted part and the degree of rust, and calculating the angle required to be adjusted each time the mounting table moves based on the orientation of the mounting table when the image is collected, and transmitting the adjustment signal to the controller;

[0024] S5: The controller adjusts the angle of the mounting table: The controller outputs a control signal according to the adjustment signal to drive the first motor and the second motor to adjust the spray angle of the nozzle on the mounting table. After moving to the preset position, the nozzle starts to remove rust. After the work is completed, the spray angle continues to be adjusted to the next preset position.

[0025] Furthermore, the preprocessing in step S2 includes denoising the image, graying the color image, binarizing the image by threshold segmentation, and edge detection.

[0026] Furthermore, in step S3, the homogeneous coordinate transformation relationship between the image coordinate system and the world coordinate system is: ; Where f is the physical focal length of the camera, dx and dy represent the actual size of each pixel in the x and y directions, the corresponding coordinates in the projection plane coordinate system are marked as (u, v), R is the rotation matrix, that is, the product of the rotation matrices in the xyz direction, and t is the translation vector in three-dimensional space. is the homogeneous coordinate in the world coordinate system.

[0027] Furthermore, in step S4, based on the coordinate information of the rusted part and the degree of rust, the A-star algorithm is used to calculate the optimal nozzle movement path.

[0028] A rust removal device comprising any of the above automatic nozzle steering structures.

[0029] The beneficial effects of the present invention are as follows:

[0030] 1. The present invention can reduce manual intervention and improve the automation of rust removal work by automatically adjusting the spray angle of the nozzle, thereby significantly improving work efficiency.

[0031] 2. The automatic steering structure in the present invention enables the nozzle to be accurately aimed at the rusted part, and can perform precise cleaning according to the degree and location of rust, thereby reducing unnecessary energy consumption and equipment wear.

[0032] 3. The automated steering structure of the present invention reduces the need for workers to manually adjust equipment in a small space, reduces the risk of operator injury, and improves work safety.

[0033] 4. The automated steering structure of the present invention can not only flexibly adapt to various complex environments and working conditions, especially in closed and space-constrained cabins, but also be easily integrated with other ship maintenance equipment, and can also conveniently perform functional expansion and performance upgrades. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 This is a schematic structural diagram of the automatic nozzle steering structure of the present invention;

[0035] Figure 2 It is a structural schematic diagram of the workbench of the present invention;

[0036] Figure 3 for Figure 1 A partial enlarged view of point A;

[0037] Figure 4 It is a structural schematic diagram of the image acquisition device of the present invention;

[0038] Figure 5 This is a control flow chart of the automatic nozzle steering structure of the present invention.

[0039] The reference numerals are as follows:

[0040] 1-housing; 2-support column; 3-workbench; 4-external gear ring; 5-first driving wheel; 6-first motor; 7-roller ball; 8-annular guide rail; 9-mounting seat; 10-driven shaft; 11-driven wheel; 12-driving shaft; 13-second driving wheel; 14-second motor; 15-mounting table; 16-high-definition industrial camera; 17-coupling. DETAILED DESCRIPTION

[0041] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments, but the protection scope of the present invention is not limited thereto.

[0042] The automatic nozzle steering structure described in this embodiment includes a rotating platform, an adjustment component fixed on the rotating platform, and a control system. Figure 1 This is a schematic diagram of the structure of the automatic nozzle steering structure described in this embodiment.

[0043] The rotating table includes a housing 1, a plurality of support columns 2 fixed in the housing 1, a workbench 3 placed on the upper end of the housing 1, an outer gear ring 4 arranged on the lower end surface of the workbench 3, a first driving wheel 5 meshing with the outer gear ring 4, and a first motor 6 connected to the first driving wheel 5 through an output shaft. The horizontal position of the lower surface of the workbench 3 is lower than the upper surface of the housing 1. Figure 2 The figure is a schematic diagram of the structure of the workbench 3 of this embodiment. The first driving wheel 5 does not contact the workbench 3. The workbench 3 is fixed to the upper end of the housing 1 only by the support column 2 and is limited by the housing 1 in the horizontal direction. The support columns 2 are distributed in a circular array, and a rolling ball 7 is movably embedded in the top surface of the support column 2. The contact position of the workbench 3 with the support column 2 is provided with an annular guide rail 8 adapted to the rolling ball 7. Figure 3 It is a schematic structural diagram of the rolling ball 7 and the annular guide rail 8 described in this embodiment.

[0044] The adjustment assembly includes a pair of mounting seats 9, a driven shaft 10 rotatably connected to the mounting seats 9, a driven wheel 11 fixed to one end of the driven shaft 10, a driving shaft 12 rotatably connected to the mounting seats 9, a second driving wheel 13 fixed to one end of the driving shaft 12 and meshing with the driven wheel 11, and a second motor 14 for driving the driving shaft 12, wherein the output shaft of the second motor 14 is connected to the driving shaft 12 via a coupling 17. Bearings are provided at the connection positions of the driving shaft 12, the driven shaft 10 and the mounting seats 9. A mounting platform 15 for fixing the nozzle is provided on the driven shaft 10.

[0045] The control system comprises:

[0046] An image acquisition device, wherein the image acquisition device is three high-definition industrial cameras (16) mounted on a mounting platform 15, each high-definition industrial camera has a shooting angle range of 112° and is used to acquire surrounding images, and the three high-definition industrial cameras 16 are provided with dust covers. Figure 4 This is a schematic diagram of the structure of the image acquisition device described in this embodiment (excluding the dust cover);

[0047] The recognition module pre-processes the collected images, determines the rusted parts according to the color degree, and quantifies the rust degree;

[0048] The positioning module calculates the coordinate information of all corroded parts in three-dimensional space based on the collected images;

[0049] The path planning module designs the optimal nozzle movement path according to the coordinate information of the rusted part and the degree of rust, and calculates the angle required to be adjusted each time the mounting platform 15 moves based on the orientation of the mounting platform 15 when the image is collected, and transmits the adjustment signal to the controller;

[0050] The controller outputs a control signal according to the adjustment signal to drive the first motor 6 and the second motor 14 to adjust the spray angle of the nozzle on the mounting platform 15. After moving to the preset position, the nozzle starts to remove rust. After the work is completed, the spray angle continues to be adjusted to the next preset position.

[0051] The control method of the automatic nozzle steering structure of the present invention is as follows Figure 5 As shown, the specific steps include:

[0052] S1: Image acquisition: collect images of the cabin surface.

[0053] S2: Identify the rusted parts: pre-process the collected image to generate several marked areas, extract color features in the marked areas and identify the rusted parts and the degree of rust; if no rust is detected in the image, repeat S1 to continue collecting images and detect whether there is rust in the field of view; if rust is detected in the image, proceed to step S3.

[0054] Furthermore, the preprocessing includes denoising the image, graying the color image, binarizing the image by threshold segmentation, and edge detection.

[0055] S3: Calculate position information: Based on the collected image, the coordinate information of all the corroded parts in the three-dimensional space is calculated by the homogeneous coordinate transformation relationship between the image coordinate system and the world coordinate system;

[0056] Furthermore, the homogeneous coordinate transformation relationship between the image coordinate system and the world coordinate system is: ; Where f is the physical focal length of the camera, dx and dy represent the actual size of each pixel in the x and y directions, the corresponding coordinates in the projection plane coordinate system are marked as (u, v), R is the rotation matrix, that is, the product of the rotation matrices in the xyz direction, and t is the translation vector in three-dimensional space. is the homogeneous coordinate in the world coordinate system.

[0057] S4: Based on the coordinate information and the degree of rust at the rusted part, the A-star algorithm is used to calculate the optimal nozzle movement path, and based on the orientation of the mounting platform 15 when the image is collected, the angle required to be adjusted each time the mounting platform 15 moves is calculated, and the adjustment signal is transmitted to the controller;

[0058] S5: The controller adjusts the angle of the mounting platform 15: The controller outputs a control signal according to the adjustment signal to drive the first motor 6 and the second motor 14 to adjust the spray angle of the nozzle on the mounting platform 15. After moving to the preset position, the nozzle starts to perform rust removal work. After the work is completed, the spray angle continues to be adjusted to the next preset position.

[0059] Furthermore, this embodiment also designs a rust removal device including the above-mentioned automatic nozzle steering structure.

[0060] The rotating platform in this embodiment can rotate 360° in the horizontal direction, and the adjustment component can rotate 360° in the pitch direction, which provides a prerequisite for adjusting the spray direction of the nozzle. The control system can accurately identify the rusted parts and their three-dimensional coordinates, so that the nozzle can be accurately aimed at the rusted parts during subsequent rust removal, ensuring uniform rust removal quality and avoiding excessive or insufficient removal problems. No manual intervention is required, which protects the health of the staff on the basis of improving work efficiency, and has broad application prospects in the field of cabin rust removal.

[0061] The embodiments are preferred implementations of the present invention, but the present invention is not limited to the above-mentioned implementations. Any obvious improvements, substitutions or modifications that can be made by those skilled in the art without departing from the essential content of the present invention belong to the protection scope of the present invention.

Claims

1. An automatic nozzle steering structure, characterized in that: It includes a rotating table, an adjustment component fixed on the rotating table, and a control system; The rotating table comprises a shell (1), a plurality of support columns (2) fixed in the shell (1), a workbench (3) arranged at the upper end of the shell (1), an outer gear ring (4) arranged on the lower end surface of the workbench (3), a first driving wheel (5) meshing with the outer gear ring (4), and a first motor (6) connected to the first driving wheel (5) through an output shaft; the support columns (2) are arranged in a circular array, and a rolling ball (7) is movably embedded in the top end surface of the support column (2); and an annular guide rail (8) adapted to the rolling ball (7) is provided at a contact position between the workbench (3) and the support column (2); The adjustment assembly comprises a pair of mounting seats (9), a driven shaft (10) rotatably connected to the mounting seats (9), a driven wheel (11) fixed to one end of the driven shaft (10), a driving shaft (12) rotatably connected to the mounting seats (9), a second driving wheel (13) fixed to one end of the driving shaft (12) and meshing with the driven wheel (11), and a second motor (14) for driving the driving shaft (12); a mounting platform (15) for fixing the nozzle is provided on the driven shaft (10); The control system comprises: An image acquisition device, used for acquiring surrounding images; The recognition module pre-processes the collected images, determines the rusted parts according to the color degree, and quantifies the rust degree; The positioning module calculates the coordinate information of all corroded parts in three-dimensional space based on the collected images; A path planning module designs an optimal nozzle movement path according to the coordinate information of the rusted part and the degree of rust, calculates the angle required to be adjusted each time the mounting platform (15) moves based on the orientation of the mounting platform (15) when the image is collected, and transmits an adjustment signal to the controller; The controller outputs a control signal according to the adjustment signal to drive the first motor (6) and the second motor (14) to adjust the spray angle of the nozzle on the mounting platform (15); after the nozzle moves to a preset position, it starts to perform rust removal work, and after the work is completed, it continues to adjust the spray angle to the next preset position; The control method of the automatic nozzle steering structure is characterized by comprising the following steps: S1: Image acquisition: collect images of the cabin surface; S2: Identify the rusted parts: pre-process the collected image to generate a number of marked areas, extract color features in the marked areas and identify the rusted parts and the degree of rust; if no rust is detected in the image, repeat S1 to continue collecting images and detect whether there is rust in the field of view; if rust is detected in the image, proceed to step S3; S3: Calculate position information: Based on the acquired image, the coordinate information of all the corroded parts in the three-dimensional space is calculated by the homogeneous coordinate transformation relationship between the image coordinate system and the world coordinate system; S4: according to the coordinate information and the degree of rust of the rusted part, the A-star algorithm is used to calculate the optimal nozzle movement path, and based on the orientation of the mounting platform (15) when the image is collected, the angle required to be adjusted each time the mounting platform (15) moves is calculated, and the adjustment signal is transmitted to the controller; S5: the controller adjusts the angle of the mounting platform (15): the controller outputs a control signal according to the adjustment signal to drive the first motor (6) and the second motor (14) to adjust the spray angle of the nozzle on the mounting platform (15), and after the nozzle moves to a preset position, it starts to perform rust removal work, and after the work is completed, it continues to adjust the spray angle to the next preset position.

2. The automatic nozzle steering structure according to claim 1, characterized in that: The image acquisition device comprises three high-definition industrial cameras (16) mounted on a mounting platform (15) and a transparent dust cover mounted outside the three high-definition industrial cameras (16); the shooting angle range of the high-definition industrial cameras is 112°.

3. The automatic nozzle steering structure according to claim 1, characterized in that: The output shaft of the second motor (14) is connected to the driving shaft (12) via a coupling (17).

4. The automatic nozzle steering structure according to claim 1, characterized in that: Bearings are provided at the connection positions of the driving shaft (12), the driven shaft (10) and the mounting seat (9).

5. The automatic nozzle steering structure according to claim 1, characterized in that: The horizontal position of the lower surface of the workbench (3) is lower than the upper surface of the shell (1).

6. The automatic nozzle steering structure according to claim 1, characterized in that: The preprocessing in step S2 includes denoising the image, graying the color image, binarizing the image by threshold segmentation, and edge detection.

7. The automatic nozzle steering structure according to claim 1, characterized in that: In step S3, the homogeneous coordinate transformation relationship between the image coordinate system and the world coordinate system is: , where f is the physical focal length of the camera, dx and dy represent the actual size of each pixel in the x and y directions, the corresponding coordinates in the projection plane coordinate system are marked as (u, v), R is the rotation matrix, that is, the product of the rotation matrices in the xyz direction, and t is the translation vector in three-dimensional space. is the homogeneous coordinate in the world coordinate system.

8. A rust removal device comprising the automatic nozzle steering structure according to any one of claims 1 to 7.

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