Work vehicle for spraying a ship's hull, method of hull spraying control and medium

Abstract

Embodiments of the present disclosure disclose a work vehicle for spraying ship plating, a plating spraying control method and a medium. A specific embodiment of the work vehicle for spraying ship plating comprises a master control unit, a mechanical arm, a ground plate, a positioning device, and a paint spraying device. The paint spraying device comprises a solenoid valve, a paint nozzle, a recovery device, a paint pipeline, an air inlet pipeline, and a recovery pipeline. The recovery device comprises an air inlet pipe, a paint pipe, a recovery pipe, an inner wall layer, an intermediate layer, and an outer wall layer. In a use state, the air inlet pipe communicates the air inlet pipeline and a first cavity through the outer wall layer and the intermediate layer, the recovery pipe communicates the recovery pipeline and a second cavity through the outer wall layer, and the paint nozzle is fixed to the inner wall layer of the recovery device. The master control unit is configured to control the end of the mechanical arm to align with a position to be sprayed, and control the paint spraying device to perform a spraying operation. This embodiment reduces damage to human health, reduces pollution to the environment, and reduces waste of paint.

Description

TECHNICAL FIELD

[0001] Embodiments of the present disclosure relate to the technical field of paint spraying, and in particular, to a work vehicle for spraying a ship outer plate, a ship outer plate spraying control method and a medium. BACKGROUND

[0002] Outer plate paint spraying is an important project in the shipbuilding process. When spraying paint on the outer plate of a ship, the commonly used way is to equip two operators on each overhead working vehicle, one of whom is responsible for driving and the other is responsible for spraying, and the operator wears a gas mask.

[0003] However, when the above-mentioned way is used to spray paint on the outer plate of a ship, the following technical problems often exist: paint spraying is a toxic environment, even if a gas mask is worn, the damage to human health is large, paint is directly sprayed through a nozzle, waste gas cannot be recycled, the environment is heavily polluted, and paint is wasted.

[0004] The above information disclosed in this BACKGROUND section is only for increasing the understanding of the background of the present inventive concept, and therefore, it can contain information that does not form the prior art that is already known in this country to those ordinary skilled in the art. SUMMARY

[0005] The summary of the present disclosure is used to introduce the concepts in a simple form, which will be described in detail in the specific embodiments section. The summary of the present disclosure is not intended to identify key or essential features of the claimed technical solution, nor is it intended to be used to limit the scope of the claimed technical solution.

[0006] Some embodiments of the present disclosure propose a work vehicle for spraying a ship outer plate, a ship outer plate spraying control method and a computer readable medium to solve one or more of the technical problems mentioned in the background section.

[0007] In a first aspect, some embodiments of the present disclosure provide a work vehicle for spraying a ship plate, comprising: a master control unit, a mechanical arm, a ground plate, a positioning device, a paint spraying device; the bottom end of the mechanical arm is movably fixed on the ground plate; the paint spraying device comprises a solenoid valve, a paint nozzle, a recovery device, a paint pipeline, an air inlet pipeline and a recovery pipeline, wherein the paint pipeline, the air inlet pipeline and the recovery pipeline are fixed on the mechanical arm, the inlet of the paint pipeline is connected with a paint pump, the inlet of the air inlet pipeline is connected with an air source device, and the outlet of the recovery pipeline is connected with a paint recovery tank; the recovery device is installed at the end of the mechanical arm, and the recovery device comprises an air inlet pipe, a paint pipe, a recovery pipe, an inner wall layer, an intermediate layer and an outer wall layer, a first cavity is formed between the inner wall layer and the intermediate layer, and a second cavity is formed between the intermediate layer and the outer wall layer; in a use state, the paint pipe communicates the outlet of the paint pipeline and the inlet of the paint nozzle by penetrating through the outer wall layer, the intermediate layer and the inner wall layer, the air inlet pipe communicates the air inlet pipeline and the first cavity by penetrating through the outer wall layer and the intermediate layer, the recovery pipe communicates the recovery pipeline and the second cavity by penetrating through the outer wall layer, the paint nozzle is detachably fixed on the inner wall layer of the recovery device, the inlet of the paint nozzle is connected with the paint pipe, so that the paint in the paint pump is sprayed out of the outlet of the paint nozzle; the master control unit is configured to control the end of the mechanical arm to align with a to-be-sprayed position according to position data of the ship plate collected by the positioning device, and control the paint spraying device to perform a spraying operation.

[0008] Optionally, the positioning device comprises respective laser radars, and the respective laser radars comprise: a laser radar arranged at the end of the mechanical arm, a laser radar arranged in front of the ground plate, and a laser radar arranged behind the ground plate.

[0009] Optionally, the positioning device comprises a beacon positioning device and a positioning base station, the beacon positioning device is arranged on the mechanical arm, and the positioning base station is arranged on the ship plate.

[0010] Optionally, the positioning device comprises respective ultrasonic sensors, and the respective ultrasonic sensors comprise: an ultrasonic sensor arranged in front of the ground plate and an ultrasonic sensor arranged behind the ground plate.

[0011] Optionally, the positioning device comprises at least one camera, and the at least one camera comprises: a camera arranged at the end of the mechanical arm.

[0012] Optionally, the work vehicle for spraying a ship plate further comprises a communication device, and the communication device is in communication connection with the master control unit.

[0013] Optionally, the operation vehicle for spraying ship outer plate further comprises a set of operation control components and a transfer box, the transfer box is connected with the master control unit and at least one operation control component in the set of operation control components, the master control unit is further configured to send control information to a target operation control component through the transfer box, the target operation control component is the operation control component corresponding to the control information in the at least one operation control component.

[0014] Optionally, the diameter of the outlet end of the recovery device is larger than the diameter of the inlet end, the intermediate layer or the outer wall layer has at least one protrusion on the side of the outlet end facing the outer wall layer, the protrusion height of each protrusion is less than the cavity spacing of the second cavity, in the use state, the gas sprayed from the air inlet pipe flows to the second cavity through the first cavity, the paint mist volatilized into the air during the gas flow is carried to the second cavity, the flowing paint mist generates a speed difference after passing through the protrusions in the second cavity, so as to recover the paint mist volatilized into the air to the recovery pipe, and then flow through the recovery pipeline to the paint recovery tank.

[0015] In the second aspect, some embodiments of the present disclosure provide a ship outer plate spraying control method applied to the operation vehicle for spraying ship outer plate described in any implementation manner of the first aspect, the method comprising: acquiring position information of the operation vehicle through a positioning device included in the operation vehicle; controlling the operation vehicle to drive to a parking position corresponding to a to-be-sprayed area of a ship outer plate according to the position information; determining an initial to-be-sprayed position according to the to-be-sprayed area and a preset spraying mode; controlling a terminal of a mechanical arm of the operation vehicle to move to the initial to-be-sprayed position; controlling a paint spraying device of the operation vehicle to perform a spraying operation according to the preset spraying mode, and controlling the terminal of the mechanical arm to move in front of the to-be-sprayed area.

[0016] In the third aspect, some embodiments of the present disclosure provide a computer readable medium having a computer program stored thereon, wherein the program is executed by a processor to implement the method described in any implementation manner of the second aspect.

[0017] The above various embodiments of the present disclosure have the following beneficial effects: the working vehicle for spraying ship planking of some embodiments of the present disclosure reduces damage to human health, reduces pollution to the environment, and reduces waste of paint. Specifically, the reasons for causing greater damage to human health, heavier pollution to the environment, and waste of paint are as follows: paint spraying belongs to a toxic environment, even if a gas mask is worn, the damage to human health is greater, the paint is sprayed directly through a nozzle, the recovery of waste gas cannot be considered, the pollution to the environment is heavier, and the waste of paint is caused. Based on this, the working vehicle for spraying ship planking of some embodiments of the present disclosure comprises a main control unit, a mechanical arm, a ground plate, a positioning device, and a paint spraying device. The bottom end of the mechanical arm is movably fixed on the ground plate. The paint spraying device comprises an electromagnetic valve, a paint nozzle, a recovery device, a paint pipeline, an air inlet pipeline, and a recovery pipeline. The paint pipeline, the air inlet pipeline, and the recovery pipeline are all fixed on the mechanical arm. The inlet of the paint pipeline is connected to a paint pump. The inlet of the air inlet pipeline is connected to an air source device. The outlet of the recovery pipeline is connected to a paint recovery tank. The recovery device is installed at the end of the mechanical arm. The recovery device comprises an air inlet pipe, a paint pipe, a recovery pipe, an inner wall layer, an intermediate layer, and an outer wall layer. A first cavity is formed between the inner wall layer and the intermediate layer. A second cavity is formed between the intermediate layer and the outer wall layer. In the use state, the paint pipe passes through the outer wall layer, the intermediate layer, and the inner wall layer to communicate the outlet of the paint pipeline with the inlet of the paint nozzle. The air inlet pipe passes through the outer wall layer and the intermediate layer to communicate the air inlet pipeline with the first cavity. The recovery pipe passes through the outer wall layer to communicate the recovery pipeline with the second cavity. The paint nozzle is detachably fixed to the inner wall layer of the recovery device. The inlet of the paint nozzle is connected to the paint pipe, so that the paint in the paint pump is sprayed out of the outlet of the paint nozzle. The main control unit is configured to control the end of the mechanical arm to align with the position to be sprayed according to the position data of the ship planking collected by the positioning device, and control the paint spraying device to perform a spraying operation. Because the main control unit can control the paint spraying device to perform a spraying operation, the operator can not need to spray paint, so that personnel can be kept away from the spraying position, thereby reducing damage to human health. Because the recovery device is additionally installed at the paint nozzle, the recovery of paint mist can be realized through the recovery device, thereby reducing pollution to the environment and reducing waste of paint. Thus, damage to human health is reduced, pollution to the environment is reduced, and waste of paint is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0018] The above and other features, advantages, and aspects of embodiments of the present disclosure will become more apparent by describing in detail some embodiments thereof with reference to the annexed drawings. In the drawings: like reference numerals refer to like elements throughout. It should be noted that the drawings are schematic and elements and features do not necessarily appear to scale relative to each other.

[0019] Figure 1 is a schematic diagram of an application scenario of a work vehicle for spraying a ship outer plate according to some embodiments of the present disclosure;

[0020] Figure 2 is a sectional structure schematic diagram of a recycling device of a work vehicle for spraying a ship outer plate according to some embodiments of the present disclosure;

[0021] Figure 3 is a structure schematic diagram of a recycling device of a work vehicle for spraying a ship outer plate according to some embodiments of the present disclosure;

[0022] Figure 4 is a flowchart of a ship outer plate spraying control method according to some embodiments of the present disclosure;

[0023] Figure 5 is a structure schematic diagram of an electronic device suitable for implementing some embodiments of the present disclosure. DETAILED DESCRIPTION

[0024] Embodiments of the present disclosure will be described in more detail with reference to the drawings. Although some embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure can be more thoroughly and completely understood. It should be understood that the drawings of the present disclosure are only for illustrative purposes and are not intended to limit the scope of protection of the present disclosure.

[0025] It should also be noted that only parts related to the present application are shown in the drawings for ease of description. The embodiments in the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0026] It should be noted that the concepts of "first", "second", etc. mentioned in the present disclosure are only used to distinguish different devices, modules or units, and are not intended to limit the order or interdependence of the functions performed by these devices, modules or units.

[0027] It should be noted that the adjectives "one", "multiple" mentioned in the present disclosure are illustrative and not limiting, and those skilled in the art should understand that unless otherwise explicitly stated in the context, it should be understood as "one or more".

[0028] Names of messages or information exchanged between multiple devices in the embodiments of the present disclosure are only for illustrative purposes, and are not intended to limit the scope of the messages or information.

[0029] The present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0030] Figure 1 is a schematic diagram of an application scenario of a work vehicle for spraying ship hulls according to some embodiments of the present disclosure. Figure 1 It includes a mechanical arm 1, a ground plate 2, a positioning device 3 (partially shown), and a paint spraying device 4. Figure 1 In the present disclosure, the work vehicle for spraying ship hulls is parked on a flat surface below the ship hull.

[0031] Figures 2-3 is a structural schematic diagram of a recycling device of a work vehicle for spraying ship hulls according to some embodiments of the present disclosure. Figure 2 It includes an air inlet pipe 41, a paint pipe 42, a recycling pipe 43, an inner wall layer 44, an intermediate layer 45, an outer wall layer 46, and a protrusion 47. Figure 2 The arrows in can be used to indicate the paint spraying direction. Figure 3 It includes an inner wall layer 44, an intermediate layer 45, and an outer wall layer 46.

[0032] In some embodiments, the work vehicle for spraying ship hulls can include a master control unit (not shown in the figure), a mechanical arm 1, a ground plate 2, a positioning device 3, and a paint spraying device 4. The master control unit can be a central processing unit. It should be noted that a vehicle-mounted terminal can be installed on the work vehicle for spraying ship hulls, and the vehicle-mounted terminal includes the master control unit. The mechanical arm 1 can be a mechanical arm used to move the paint spraying device to adjust the spraying position. For example, the mechanical arm 1 can be a two-axis mechanical arm. Here, the number or type of the mechanical arm is not limited. The ground plate 2 can be a component at the bottom of the work vehicle, which can include a turntable and a vehicle body. The bottom end of the mechanical arm can be movably fixed to the ground plate. For example, the bottom end of the mechanical arm can be movably fixed to the turntable included in the ground plate. The positioning device 3 can be a device used to collect environmental data to achieve positioning. The environmental data can include but is not limited to at least one of the following: point cloud data, images, distance data. For example, the positioning device can include but is not limited to at least one of the following: a laser radar, an ultrasonic sensor, and an ultra-wideband sensor. The laser radar can be arranged at the end of the mechanical arm and the front and rear positions of the ground plate. The laser radar arranged at the left of the front and rear positions of the ground plate can be a two-dimensional laser radar. The ultrasonic sensor can be arranged at the front and rear positions of the ground plate. The ultra-wideband sensor can be arranged at both ends of the straight arm of the mechanical arm. The positioning base station corresponding to the ultra-wideband sensor can be arranged on the ship hull.

[0033] Optionally, the positioning device can include a plurality of laser radars, the plurality of laser radars including a laser radar arranged at the end of the mechanical arm, a laser radar arranged in front of the ground plate, and a laser radar arranged behind the ground plate. Thus, the environment perception, fine positioning, auxiliary driving, obstacle detection, high-precision measurement, and three-dimensional imaging can be performed by the laser radars arranged at different positions.

[0034] Optionally, the positioning device includes a beacon positioning device arranged on the mechanical arm and a positioning base station arranged on the ship plate. The beacon positioning device can be an ultra-wideband sensor. The positioning base station can be an UWB positioning base station. Thus, the positioning can be performed by the beacon positioning device and the positioning base station.

[0035] Optionally, the positioning device includes a plurality of ultrasonic sensors, the plurality of ultrasonic sensors including an ultrasonic sensor arranged in front of the ground plate and an ultrasonic sensor arranged behind the ground plate. Thus, the distance measurement can be performed by the ultrasonic sensors.

[0036] Optionally, the positioning device includes at least one camera, the at least one camera including a camera arranged at the end of the mechanical arm. Thus, the camera can be used to capture the image of the scene that can be observed from the end of the mechanical arm. The image of the scene can also be used for the environment perception, fine positioning, auxiliary driving, and obstacle detection.

[0037] In some embodiments, the paint spraying device 4 can be a device for automatically spraying paint. The paint spraying device 4 can include a solenoid valve, a paint nozzle, a recovery device, a paint pipeline, an air inlet pipeline, and a recovery pipeline. The solenoid valve can be used to control the paint spraying in an open state. The paint nozzle can be a nozzle for spraying paint in the form of paint mist. The recovery device can be a device for recovering the paint mist volatilized in the air. The paint pipeline can be a pipeline for conveying paint. The air inlet pipeline can be a pipeline for inputting compressed gas. The recovery pipeline can be a pipeline for outputting the recovered paint mist. The paint pipeline, the air inlet pipeline, and the recovery pipeline are fixed on the mechanical arm. For example, the paint pipeline, the air inlet pipeline, and the recovery pipeline can be fixed on the mechanical arm by means of external hanging. The inlet of the paint pipeline is connected to a paint pump to access paint from the paint pump. The inlet of the air inlet pipeline is connected to a gas source device to access compressed gas from the gas source device. For example, the gas source device can include an air compressor. The outlet of the recovery pipeline is connected to a paint recovery tank to output the recovered paint mist to the recovery tank.

[0038] In some embodiments, the above-mentioned recovery device can be installed at the end of the above-mentioned mechanical arm. The end of the mechanical arm can be the end close to the object to be sprayed. The above-mentioned recovery device comprises an air inlet pipe 41, a paint pipe 42, a recovery pipe 43, an inner wall layer 44, an intermediate layer 45 and an outer wall layer 46. A first cavity is formed between the above-mentioned inner wall layer 44 and the above-mentioned intermediate layer 45. A second cavity is formed between the above-mentioned intermediate layer 45 and the above-mentioned outer wall layer 46. The above-mentioned first cavity and the above-mentioned second cavity are not closed at one end in the direction of paint spraying. The material of the above-mentioned recovery device can be titanium alloy or plastic. The air inlet pipe 41 can be a pipeline for inputting compressed gas. The above-mentioned air inlet pipe 41 passes through the above-mentioned outer wall layer 46 and the above-mentioned intermediate layer 45 to communicate with the above-mentioned first cavity. The paint pipe can be a pipeline for inputting paint. The above-mentioned paint pipe 42 passes through the above-mentioned outer wall layer 46, the above-mentioned intermediate layer 45 and the above-mentioned inner wall layer 44. The recovery pipe 43 can be a pipeline for outputting recovered paint mist. The above-mentioned recovery pipe 43 passes through the above-mentioned outer wall layer 46 to the above-mentioned second cavity.

[0039] In some embodiments, in the state of use, the above-mentioned paint pipe 42 passes through the above-mentioned outer wall layer 46, the above-mentioned intermediate layer 45 and the above-mentioned inner wall layer 44 to communicate the outlet of the above-mentioned paint line and the inlet of the above-mentioned paint nozzle. The above-mentioned air inlet pipe 41 passes through the above-mentioned outer wall layer 46 and the above-mentioned intermediate layer 45 to communicate the above-mentioned air inlet line and the above-mentioned first cavity. The above-mentioned recovery pipe 43 passes through the above-mentioned outer wall layer 46 to communicate the above-mentioned recovery pipe line and the above-mentioned second cavity. The above-mentioned paint nozzle is detachably fixed to the inner wall layer 44 of the above-mentioned recovery device, the inlet of the above-mentioned paint nozzle is connected to the above-mentioned paint pipe 42, so that the paint in the above-mentioned paint pump is sprayed out of the outlet of the above-mentioned paint nozzle. The above-mentioned paint nozzle can be detachably fixed to the inner wall layer of the above-mentioned recovery device by screws. Alternatively, the above-mentioned paint nozzle can also be detachably fixed to the inner wall layer and the intermediate layer of the above-mentioned recovery device, or the inner wall layer, the intermediate layer and the outer wall layer by screws. Alternatively, the inlet end of the above-mentioned paint nozzle can be connected to the above-mentioned paint pipe 42 by threaded connection. The gas flowing out of the first cavity will drive the surrounding air into the second cavity, thereby realizing the recovery of the paint mist volatilized into the air into the second cavity, which can then be output to the recovery pipe line through the recovery pipe and then output to the recovery pool.

[0040] Optionally, the diameter of the outlet end of the recovery device can be larger than the diameter of the inlet end. The outlet end of the recovery device can be the end that extends in the spraying direction. The inlet end can be the end of the recovery device opposite the outlet end. In this way, more paint mist that volatilizes in the air can be recovered through the large-diameter outlet end. The intermediate layer or the outer wall layer has at least one ring of protrusions 47 on the side of the outlet end facing the outer wall layer. The protrusion height of each ring of protrusions is less than the cavity spacing of the second cavities. The cavity spacing of the second cavities can be the distance between the intermediate layer and the outer wall layer. In use, the gas sprayed from the air inlet pipe 41 flows through the first cavities to the second cavities, and the paint mist volatilized in the air is carried by the gas flow to the second cavities. The flowing paint mist passes through the protrusions in the second cavities to generate a speed difference, so as to recover the paint mist volatilized in the air to the recovery pipe 43, and then flow through the recovery pipeline to the paint recovery tank. In this way, the protrusions provided at the outlet end of the second cavities can accelerate the flow speed of the paint mist recovered to the second cavities, so as to recover more paint mist volatilized in the air.

[0041] In some embodiments, the main control unit can be configured to control the end of the mechanical arm to align with a to-be-sprayed position according to position data of the ship plate collected by the positioning device, and control the paint spraying device to perform a spraying operation. The position data can include but is not limited to the position of the to-be-sprayed area on the ship plate and the position of the initial to-be-sprayed point in the to-be-sprayed area. The to-be-sprayed position can be the position of the paint to be sprayed in the to-be-sprayed area. In practice, the main control unit can control the electromagnetic valve to open to spray paint out of the paint nozzle at the to-be-sprayed position.

[0042] Optionally, the work vehicle for spraying a ship plate can further include a communication device in communication connection with the main control unit. The communication device can include but is not limited to at least one of the following: a Wifi module, a 4G module, a 5G module, and a Bluetooth module.

[0043] Optionally, the work vehicle for spraying ship plate can further comprise a set of operation control components and a transfer box. The set of operation control components can be used to control the work vehicle for spraying ship plate to perform various operations, and can include but is not limited to at least one of the following: a joystick, a button. The various operations can include but are not limited to at least one of the following: main arm amplitude change, turret rotation, main arm extension and retraction, work bucket lifting, vehicle forward and backward movement, wheel steering. The transfer box can be a device for transferring connections. The transfer box is connected to at least one of the main control unit and the set of operation control components. It can be understood that the transfer box can be added to an existing work vehicle that needs to be manually operated for spraying, so that the work vehicle can be modified without damaging the existing work vehicle, thereby avoiding resource waste caused by remanufacturing. The main control unit can also be configured to send control information to a target operation control component through the transfer box. The target operation control component is the operation control component corresponding to the control information in the at least one operation control component. The control information can be a control signal used to control the operation control component to perform an operation.

[0044] The above various embodiments of the present disclosure have the following beneficial effects: through the operation vehicle for spraying ship outer plates of some embodiments of the present disclosure, the damage to human health is reduced, the pollution to the environment is reduced, and the waste of paint is reduced. Specifically, the reasons for causing greater damage to human health, heavier pollution to the environment, and waste of paint are as follows: paint spraying belongs to a toxic environment, even if a gas mask is worn, the damage to human health is greater, the paint is sprayed directly through a nozzle, the waste gas cannot be recycled, the pollution to the environment is heavier, and the waste of paint is caused. Based on this, the operation vehicle for spraying ship outer plates of some embodiments of the present disclosure comprises a main control unit, a mechanical arm, a ground plate, a positioning device, and a paint spraying device. The bottom end of the mechanical arm is movably fixed on the ground plate. The paint spraying device comprises an electromagnetic valve, a paint nozzle, a recycling device, a paint pipeline, an air inlet pipeline, and a recycling pipeline. The paint pipeline, the air inlet pipeline, and the recycling pipeline are all fixed on the mechanical arm. The inlet of the paint pipeline is connected to a paint pump. The inlet of the air inlet pipeline is connected to an air source device. The outlet of the recycling pipeline is connected to a paint recycling pool. The recycling device is installed at the end of the mechanical arm. The recycling device comprises an air inlet pipe, a paint pipe, a recycling pipe, an inner wall layer, an intermediate layer, and an outer wall layer. A first cavity is formed between the inner wall layer and the intermediate layer. A second cavity is formed between the intermediate layer and the outer wall layer. In the use state, the paint pipe passes through the outer wall layer, the intermediate layer, and the inner wall layer to communicate the outlet of the paint pipeline with the inlet of the paint nozzle. The air inlet pipe passes through the outer wall layer and the intermediate layer to communicate the air inlet pipeline with the first cavity. The recycling pipe passes through the outer wall layer to communicate the recycling pipeline with the second cavity. The paint nozzle is detachably fixed to the inner wall layer of the recycling device. The inlet of the paint nozzle is connected to the paint pipe, so that the paint in the paint pump is sprayed out of the outlet of the paint nozzle. The main control unit is configured to control the end of the mechanical arm to align with the position to be sprayed according to the position data of the ship outer plate collected by the positioning device, and control the paint spraying device to perform the spraying operation. Because the main control unit can control the paint spraying device to perform the spraying operation, the operator can not need to spray the paint, so that the personnel can be away from the spraying position, thereby reducing the damage to human health. Because the recycling device is additionally installed at the paint nozzle, the paint mist can be recycled through the recycling device, thereby reducing the pollution to the environment and reducing the waste of paint. Thus, the damage to human health is reduced, the pollution to the environment is reduced, and the waste of paint is reduced.

[0045] Further reference is made to Figure 4 which shows a flow 400 of some embodiments of a ship outer plate spraying control method. The flow 400 of the ship outer plate spraying control method is applied to Figures 1-3The working vehicle for spraying the ship outer plate described in the corresponding embodiments includes the following steps:

[0046] In step 401, the position information of the working vehicle is obtained by the positioning device included in the working vehicle.

[0047] In some embodiments, the execution subject of the ship outer plate spraying control method (for example, the vehicle-mounted terminal installed on the working vehicle for spraying the ship outer plate) can obtain the position information of the working vehicle through the positioning device included in the working vehicle. The position information can be the current position of the working vehicle. The current position of the working vehicle can be a relative position relative to the ship body or an absolute position in a unified coordinate system. The unified coordinate system can be pre-constructed, and the positions of the ship body and the working vehicle are located in the coordinate system.

[0048] In step 402, the working vehicle is controlled to travel to the parking position corresponding to the to-be-sprayed area of the ship outer plate according to the position information.

[0049] In some embodiments, the execution subject can control the working vehicle to travel to the parking position corresponding to the to-be-sprayed area of the ship outer plate according to the position information. The to-be-sprayed area can be a pre-set area of the ship outer plate to be sprayed with paint. The parking position can be a pre-specified position for parking the working vehicle on the plane below the to-be-sprayed area. For example, the plane can be the deck of the ship. In practice, the execution subject can pre-plan the travel path through navigation technology, and then control the working vehicle to travel from the position corresponding to the position information to the parking position according to the travel path.

[0050] In step 403, the initial to-be-sprayed position is determined according to the to-be-sprayed area and the pre-set spraying mode.

[0051] In some embodiments, the execution subject can determine the initial spraying position according to the spraying area and the preset spraying mode. The preset spraying mode can include, but is not limited to, spraying from left to right from top to bottom, spraying from right to left from top to bottom, spraying from top to bottom from left to right, spraying from top to bottom from right to left, spraying from left to right from bottom to top, spraying from right to left from bottom to top, spraying from bottom to top from left to right, and spraying from bottom to top from right to left. In practice, in response to determining that the preset spraying mode represents spraying from left to right from top to bottom or spraying from top to bottom from left to right, the execution subject can determine a coordinate in the spraying area that satisfies a first preset position relationship condition with the top-left corner coordinate of the spraying area as the initial spraying position. The first preset position relationship condition can be that the coordinate is the center point of a square with a preset side length and the top-left corner coordinate as the top-left vertex. The preset side length can be the spraying diameter of the paint nozzle at a standard spraying distance. Here, the specific setting of the first preset position relationship is not limited. In response to determining that the preset spraying mode represents spraying from right to left from top to bottom or spraying from top to bottom from right to left, the execution subject can determine a coordinate in the spraying area that satisfies a second preset position relationship condition with the top-right corner coordinate of the spraying area as the initial spraying position. The second preset position relationship condition can be that the coordinate is the center point of a square with a preset side length and the top-right corner coordinate as the top-right vertex. Here, the specific setting of the second preset position relationship is not limited. In response to determining that the preset spraying mode represents spraying from left to right from bottom to top or spraying from bottom to top from left to right, the execution subject can determine a coordinate in the spraying area that satisfies a third preset position relationship condition with the bottom-left corner coordinate of the spraying area as the initial spraying position. The third preset position relationship condition can be that the coordinate is the center point of a square with a preset side length and the bottom-left corner coordinate as the bottom-left vertex. Here, the specific setting of the third preset position relationship is not limited. In response to determining that the preset spraying mode represents spraying from right to left from bottom to top or spraying from bottom to top from right to left, the execution subject can determine a coordinate in the spraying area that satisfies a fourth preset position relationship condition with the bottom-right corner coordinate of the spraying area as the initial spraying position. The fourth preset position relationship condition can be that the coordinate is the center point of a square with a preset side length and the bottom-right corner coordinate as the bottom-right vertex. Here, the specific setting of the fourth preset position relationship is not limited.

[0052] At step 404, the end of the mechanical arm of the control operation vehicle is moved to the initial spraying position.

[0053] In some embodiments, the execution subject can control the end of the mechanical arm of the work vehicle to move to the initial to-be-sprayed position. In practice, the execution subject can control the end of the mechanical arm of the work vehicle to move to the initial to-be-sprayed position, and the distance between the paint nozzle and the ship plate is the standard spraying distance. The standard spraying distance can be preset.

[0054] At step 405, according to the preset spraying mode, the execution subject controls the paint spraying device of the work vehicle to perform the spraying operation, and controls the end of the mechanical arm to move forward in the to-be-sprayed area.

[0055] In some embodiments, the execution subject can control the paint spraying device of the work vehicle to perform the spraying operation according to the preset spraying mode, and control the end of the mechanical arm to move forward in the to-be-sprayed area. In practice, the execution subject can control the end of the mechanical arm to move back and forth at the standard spraying distance position in front of the to-be-sprayed area according to the preset spraying mode, and keep the electromagnetic valve of the paint spraying device open until the to-be-sprayed area is sprayed. Here, the execution subject can confirm whether the to-be-sprayed area is sprayed by computer vision technology.

[0056] In the process of using the technical solutions to solve the technical problems mentioned in the background, the determination of the parking position often completely depends on the technical experience of the operator, resulting in the need for the operator to participate in the spraying operation process. The more operators on site, the more they affect the efficiency of automatic spraying, and the operators on site will affect their physical health. In view of this technical problem, the conventional solution is generally as follows: the operator remotely controls the work vehicle to stop at the specified position by remote control; or first marks on site to make the work vehicle automatically drive to the parking position. However, the above conventional solutions still have the following problems: the remote control mode depends on the technical facilities of wireless communication. When the quality of the wireless communication signal is affected, the remote control will not be timely or intermittent, which will delay the spraying period; the pre-marking method requires the operator to place the positioning label on site in advance, which will still delay the spraying period.

[0057] Considering the problems of the above conventional solutions, in view of the technical problem that the determination of the parking position completely depends on the technical experience of the operator, resulting in the need for the operator to participate in the spraying operation process. The more operators on site, the more they affect the efficiency of automatic spraying, and the operators on site will affect their physical health. Combined with the convenience of obtaining various parameters (such as three-dimensional coordinates on the ship plate, mechanical arm length, and work distance of the work vehicle), the following solution can be adopted.

[0058] Optionally, the execution subject can further perform the following steps:

[0059] In a first step, in response to detecting a spray area selection operation on a terminal device connected through a communication connection corresponding to a three-dimensional ship model, a selected spray area corresponding to the spray area selection operation is determined as a to-be-sprayed area. The three-dimensional ship model is displayed in the terminal device. The terminal device can include but is not limited to a mobile phone, a tablet computer, and a desktop computer. The three-dimensional ship model can be a three-dimensional model of a ship to be painted at present and is constructed in a unified coordinate system. The spray area selection operation can be an operation of selecting an area as a current spray area. For example, the spray area selection operation can be an operation of an operator drawing a regular area on an outer cabin of a ship on a terminal device as a selected spray area. The operator can draw a regular area on a terminal device by a box-drawing method. Since the outer plate of a ship is usually curved, the determined to-be-sprayed area can be a curved area in a three-dimensional space.

[0060] In a second step, a three-dimensional vertex coordinate set corresponding to the to-be-sprayed area of the outer plate of the ship is determined according to the three-dimensional ship model. In practice, the execution subject can determine each three-dimensional coordinate at a vertex position in the to-be-sprayed area as the three-dimensional vertex coordinate set.

[0061] In a third step, in response to determining that the preset spray mode represents spraying from left to right and from top to bottom or spraying from top to bottom and from left to right, the following steps are performed:

[0062] In a first sub-step, a three-dimensional vertex coordinate satisfying a preset top-left vertex condition is selected as a top-left vertex coordinate from the three-dimensional vertex coordinate set.

[0063] In a second sub-step, an altitude coordinate, a horizontal coordinate, and a vertical coordinate are extracted from the top-left vertex coordinate.

[0064] In a third sub-step, a vertical coordinate of a reference bottom edge corresponding to the three-dimensional ship model is determined as a reference bottom edge vertical coordinate. The reference bottom edge can be a horizontal line representing a three-dimensional ship bottom edge. The reference bottom edge can be preset.

[0065] A fourth sub-step, generating a left-moving distance according to the vertical coordinate, the longitudinal coordinate, the reference bottom edge longitudinal coordinate, the mechanical arm length information corresponding to the mechanical arm, and a preset working distance. The mechanical arm length information can include the maximum height that the mechanical arm can extend. The preset working distance can be a distance preset between the working vehicle and the reference bottom edge of the ship. In practice, first, the execution body can determine the absolute value of the difference between the reference bottom edge longitudinal coordinate and the longitudinal coordinate as the hyperedge distance of the left upper vertex coordinate. Then, the difference between the preset working distance and the hyperedge distance can be determined as the longitudinal triangular side length. Next, the sum of the square of the longitudinal triangular side length and the square of the vertical coordinate can be determined as the square of the triangular side length. Secondly, the difference between the square of the mechanical arm length information and the square of the triangular side length can be determined as the square of the left-moving distance. Finally, the square root of the square of the left-moving distance can be obtained as the left-moving distance.

[0066] A fifth sub-step, determining the difference between the horizontal coordinate and the left-moving distance as the parking horizontal coordinate.

[0067] A sixth sub-step, generating a parking longitudinal coordinate according to the longitudinal coordinate, the reference bottom edge longitudinal coordinate, and the preset working distance. In practice, the execution body can determine the difference between the longitudinal coordinate and the longitudinal triangular side length as the parking longitudinal coordinate.

[0068] A seventh sub-step, determining a preset vertical coordinate as a parking vertical coordinate. For example, the preset vertical coordinate can be 0.

[0069] An eighth sub-step, combining the obtained parking horizontal coordinate, parking longitudinal coordinate, and parking vertical coordinate into a parking coordinate in a three-dimensional coordinate system.

[0070] A fourth step, in response to determining that the preset spraying mode represents spraying from right to left from top to bottom or spraying from top to bottom from right to left, performing the following steps:

[0071] A first sub-step, selecting a three-dimensional vertex coordinate satisfying a preset upper right vertex condition from the set of three-dimensional vertex coordinates as an upper right vertex coordinate.

[0072] A second sub-step, extracting a vertical coordinate, a horizontal coordinate, and a longitudinal coordinate from the upper right vertex coordinate.

[0073] A third sub-step, determining the longitudinal coordinate of the reference bottom edge corresponding to the three-dimensional ship model as the reference bottom edge longitudinal coordinate. The reference bottom edge can be a horizontal line representing the three-dimensional ship bottom edge. The reference bottom edge can be preset.

[0074] A fourth sub-step is to generate a right-moving distance according to the vertical coordinate, the longitudinal coordinate, the reference bottom edge longitudinal coordinate, the mechanical arm length information corresponding to the mechanical arm, and a preset working interval. In practice, first, the execution subject can determine the absolute value of the difference between the reference bottom edge longitudinal coordinate and the longitudinal coordinate as the hyperedge distance of the top right vertex coordinate. Then, the difference between the preset working interval and the hyperedge distance can be determined as the longitudinal triangular side length. Next, the sum of the square of the longitudinal triangular side length and the square of the vertical coordinate can be determined as the triangular side length square. Secondly, the difference between the square of the mechanical arm length information and the triangular side length square can be determined as the right-moving distance square. Finally, the square root of the right-moving distance square can be obtained as the right-moving distance.

[0075] A fifth sub-step is to determine the sum of the horizontal coordinate and the right-moving distance as the parking horizontal coordinate.

[0076] A sixth sub-step is to generate a parking longitudinal coordinate according to the longitudinal coordinate, the reference bottom edge longitudinal coordinate, and the preset working interval. In practice, the execution subject can determine the difference between the longitudinal coordinate and the longitudinal triangular side length as the parking longitudinal coordinate.

[0077] A seventh sub-step is to determine a preset vertical coordinate as the parking vertical coordinate. For example, the preset vertical coordinate can be 0.

[0078] An eighth sub-step is to combine the obtained parking horizontal coordinate, parking longitudinal coordinate, and parking vertical coordinate into a parking coordinate in a three-dimensional coordinate system.

[0079] A fifth step is to convert the combined parking coordinate into a vehicle coordinate system of the working vehicle to obtain a parking position. In practice, the execution subject can convert the parking coordinate into the vehicle coordinate system of the working vehicle by a coordinate transformation method to obtain the parking position.

[0080] It should be noted that when the spraying mode is from left to right from bottom to top, from bottom to top from left to right, from right to left from bottom to top, or from bottom to top from right to left, the determination method of the parking position can refer to the third step or the fourth step described above, which will not be described here.

[0081] The first step to the fifth step above is an application point of the embodiments of the present disclosure, and solves the technical problem that the determination of the parking position completely depends on the technical experience of the operator, the operator needs to participate in the spraying operation process, the operator on site is identified as an obstacle by the work vehicle, the more operators on site, the more the efficiency of automatic spraying is affected, and the operator on site affects the health of the operator. The factors that cause the low efficiency of automatic spraying and affect the health of the operator are often as follows: the determination of the parking position completely depends on the technical experience of the operator, the operator needs to participate in the spraying operation process, the operator on site is identified as an obstacle by the work vehicle, the more operators on site, the more the efficiency of automatic spraying is affected, and the operator on site affects the health of the operator. If the above factors are solved, the effect of improving the efficiency of automatic spraying and reducing the damage to the health of the operator can be achieved. In order to achieve this effect, the present disclosure first locates the starting point vertex that needs to be sprayed in the to-be-sprayed area according to the preset spraying mode, and then uses the arm length parameter of the mechanical arm, the work interval parameter, and the triangle side length theorem to finally determine the parking coordinates. Then, the parking coordinates are converted to the vehicle coordinate system of the work vehicle for direct use by the work vehicle during driving. Thus, the parking position can be automatically generated without the need for the operator to participate on site or remotely control the work vehicle or to mark in advance on site, thereby improving the efficiency of automatic spraying and reducing the damage to the health of the operator.

[0082] From Figure 4 It can be seen that, Figure 4 The process 400 of the ship plate spraying control method in some embodiments corresponding to the process 400 embodies the steps of automatic spraying of paint. Thus, the scheme described in these embodiments can automatically control the paint spraying device to perform the spraying operation without the operator spraying the paint, so as to keep the personnel away from the spraying position, thereby reducing the damage to the health of the operator.

[0083] Reference is made below to Figure 5 which shows a structural schematic diagram of an electronic device 500 (a vehicle-mounted terminal installed on a work vehicle for spraying a ship plate) suitable for being used to implement some embodiments of the present disclosure. Figure 5 The electronic device shown is only an example, and should not bring any limitation to the function and use range of the embodiments of the present disclosure.

[0084] As Figure 5As shown, the electronic device 500 can include a processing device 501 (e.g., a central processing unit, a graphics processing unit, etc.) that can perform various appropriate actions and processes according to programs stored in a read-only memory (ROM) 502 or loaded into a random access memory (RAM) 503 from a storage device 508. Various programs and data required for the operation of the electronic device 500 are also stored in the RAM 503. The processing device 501, the ROM 502, and the RAM 503 are connected to each other through a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0085] In general, the following devices can be connected to the I / O interface 505: input devices 506 including, for example, a lidar, an ultrasonic sensor, a touch screen, a touch pad, a keyboard, a mouse, a camera, a microphone, an accelerometer, a gyroscope, etc.; output devices 507 including, for example, a mechanical arm, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 508 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 509. The communication devices 509 can allow the electronic device 500 to communicate wirelessly or wired with other devices to exchange data. Although Figure 5 The electronic device 500 is shown with various devices, but it should be understood that all of the illustrated devices are not required to implement or have the electronic device 500. More or fewer devices can alternatively be implemented or have. Figure 5 Each block shown in the flowcharts can represent a device or multiple devices as needed.

[0086] In particular, processes described above with reference to the flowcharts can be implemented as a computer software program according to some embodiments of the present disclosure. For example, some embodiments of the present disclosure include a computer program product including a computer program carried on a computer readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In some such embodiments, the computer program can be downloaded and installed from a network through the communication devices 509, or installed from the storage devices 508, or installed from the ROM 502. When the computer program is executed by the processing device 501, the above-described functions defined in the methods of some embodiments of the present disclosure are performed.

[0087] Note that the computer readable medium in some embodiments of the present disclosure can be a computer readable signal medium or a computer readable storage medium or any combination thereof. The computer readable storage medium can be, for example but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or any suitable combination of the foregoing. More specific examples of the computer readable storage medium can include, but are not limited to, an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In some embodiments of the present disclosure, the computer readable storage medium can be any tangible medium that contains or stores a program used by or in connection with an instruction execution system, apparatus or device. In some embodiments of the present disclosure, the computer readable signal medium can include a data signal propagated in baseband or propagated as a carrier wave in a propagated data signal, in which the computer readable program code is contained. Such propagated data signal can take a variety of forms, including but not limited to electro-magnetic, optical or any suitable combination thereof. The computer readable signal medium can also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate or transport program for use by or in connection with an instruction execution system, apparatus or device. Program code contained in the computer readable medium can be transmitted by any suitable medium, including but not limited to wire, cable, RF (radio frequency), etc., or any suitable combination of the foregoing.

[0088] In some embodiments, the client, server, or both can communicate using any current known or future developed network protocol, such as HTTP (HyperText Transfer Protocol), and can be interconnected with any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include local area networks ("LAN"), wide area networks ("WAN"), the Internet, and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any current known or future developed networks.

[0089] The computer readable medium can be included in the electronic device, or can exist separately from the electronic device. The computer readable medium can carry one or more programs that, when executed by the electronic device, cause the electronic device to: acquire position information of the work vehicle by a positioning device included in the work vehicle; control the work vehicle to travel to a parking position corresponding to a to-be-sprayed region of a ship plate according to the position information; determine an initial to-be-sprayed position according to the to-be-sprayed region and a preset spraying mode; control an end of a mechanical arm of the work vehicle to move to the initial to-be-sprayed position; and control a paint spraying device of the work vehicle to perform a spraying operation according to the preset spraying mode, and control the end of the mechanical arm to move in front of the to-be-sprayed region.

[0090] Computer program code for carrying out operations of some embodiments of the disclosure can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0091] The flow diagrams and the block diagrams in the drawings are illustrations of architectures, functionalities, and operations of possible implementations of systems, methods, and computer program products according to various embodiments of present disclosure. In this regard, each block in the flow diagrams or block diagrams can represent a module, a procedure, or a portion of code, which comprises one or more executable instructions for implementing the specific logical functions specified for the block. It should also be noted that in some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently or in the reverse order, depending on the functionality involved. It is also noted that each block of the block diagrams and / or flow diagrams and combinations of blocks in the block diagrams and / or flow diagrams can be implemented by special purpose hardware-based systems which perform the specified functions or operations, or combinations of special purpose hardware and

[0092] The functionality described herein above can be performed, at least in part, by one or more hardware logic components. For example, and without limitation, illustrative types of hardware logic components that can be used include Field-programmable Gate Arrays (FPGAs), Program- specific Integrated Circuits (ASICs), Program- specific Standard Products (ASSPs), System-on-a-chip systems (SOCs), Complex Programmable Logic Devices (CPLDs), etc.

[0093] The above description is merely exemplary of the disclosure and the application made use of the principles of the technology. It is to be understood that the application scope of the embodiments of the disclosure is not limited to the specific combinations of technical features described above, and should also cover other technical solutions formed by any combination of the above technical features or equivalent features thereof without departing from the inventive concept. For example, the technical solutions formed by replacing the above features with technical features having similar functions disclosed in the embodiments of the disclosure (but not limited to) with each other.

Claims

1. A work vehicle for spraying a ship plate, comprising a master control unit, a mechanical arm, a ground platform, a positioning device, a paint spraying device; a bottom end of the mechanical arm is movably fixed on the ground platform; The paint spraying device comprises a solenoid valve, a paint nozzle, a recovery device, a paint line, an air intake line and a recovery line, wherein, the paint pipeline, the air inlet pipeline and the recovery pipeline are all fixed on the mechanical arm, an inlet of the paint pipeline is connected with a paint pump, an inlet of the air inlet pipeline is connected with an air source device, and an outlet of the recovery pipeline is connected with a paint recovery tank; the recovery device is installed at a terminal end of the mechanical arm, and the recovery device comprises an air inlet pipe, a paint pipe, a recovery pipe, an inner wall layer, an intermediate layer and an outer wall layer, a first cavity is formed between the inner wall layer and the intermediate layer, and a second cavity is formed between the intermediate layer and the outer wall layer; in a use state, the paint pipe passes through the outer wall layer, the intermediate layer and the inner wall layer to communicate an outlet of the paint pipeline and an inlet of the paint nozzle, the air inlet pipe passes through the outer wall layer and the intermediate layer to communicate the air inlet pipeline and the first cavity, the recovery pipe passes through the outer wall layer to communicate the recovery pipeline and the second cavity, and the paint nozzle is detachably fixed on the inner wall layer of the recovery device, an inlet of the paint nozzle is connected with the paint pipe, so that paint in the paint pump is sprayed out of an outlet of the paint nozzle; the master control unit is configured to control the terminal end of the mechanical arm to be aligned with a position to be sprayed according to position data of the ship plate collected by the positioning device, and control the paint spraying device to perform a spraying operation.

2. A work platform for use in the spraying of a ship's hull, according to claim 1, wherein, the positioning device comprises respective laser radars, and the respective laser radars comprise a laser radar arranged at the terminal end of the mechanical arm, a laser radar arranged in front of the ground platform and a laser radar arranged behind the ground platform.

3. A carriage for spraying ship hulls according to claim 1, wherein, the positioning device comprises a beacon positioning device and a positioning base station, the beacon positioning device is arranged on the mechanical arm, and the positioning base station is arranged on the ship plate.

4. The working vehicle for spraying a hull of a ship according to claim 1, wherein the positioning device comprises respective ultrasonic sensors, and the respective ultrasonic sensors comprise an ultrasonic sensor arranged in front of the ground platform and an ultrasonic sensor arranged behind the ground platform.

5. The working vehicle for spraying a hull of a ship according to claim 1, wherein the positioning device comprises at least one camera, and the at least one camera comprises a camera arranged at the terminal end of the mechanical arm.

6. The working vehicle for spraying a hull of a ship according to claim 1, wherein The work vehicle for spraying a ship plate further comprises a communication device, which is in communication connection with the master control unit.

7. A carriage for spraying ship hulls according to claim 1, wherein, The work vehicle for spraying a ship plate further comprises a set of operation control components and a transfer box, the transfer box is connected with at least one operation control component in the set of operation control components and the master control unit, and the master control unit is further configured to send control information to a target operation control component through the transfer box, the target operation control component being an operation control component corresponding to the control information in the at least one operation control component.

8. A carriage for spraying ship hulls according to one of claims 1-7, wherein, The diameter of the outlet end of the recovery device is larger than the diameter of the inlet end, the intermediate layer or the outer wall layer has at least one ring of protrusions on the side of the outlet end facing the outer wall layer, the protrusion height of each ring of protrusions is less than the cavity spacing of the second cavities, in use, gas emitted from the air inlet tube flows through the first cavities to the second cavities, and the paint mist volatilized into the air during the gas flow is carried to the second cavities, the paint mist flowing through the protrusions in the second cavities generates a speed difference, so as to recover the paint mist volatilized into the air to the recovery tube, and then flows through the recovery pipeline to the paint recovery tank.

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