Intelligent spraying system for elastomer anticorrosive coating of flue of power plant

Abstract

The invention discloses an intelligent spraying system for an elastomer anticorrosive coating of a flue of a power plant, relates to the technical field of intelligent spraying of flues of power plants, solves the problem of large spraying coverage area difference in the spraying process, and is particularly key to design of a spraying verification center in the aspects of intelligence and self-adaptive adjustment. It is ensured that a spray gun is aligned with the center line of the inner wall of a spraying body through an initial regulation and control unit, and a point location analysis unit accurately locks the nearest point and the farthest point in the spraying range; according to the whole-process intelligent processing from positioning, analysis to quantification, the system can automatically calculate and generate optimal spraying parameters according to distance differences of different positions of the inner wall of the flue, dynamic real-time adjustment of the caliber of the spraying gun is achieved, the consistency of coating coverage areas of all areas of the inner wall of the flue is ensured, and the spraying quality is improved. And the situation of excessive or insufficient local spraying is effectively avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent spraying of power plant flues, and in particular to an intelligent spraying system for an elastomer anti-corrosion layer of a power plant flue. Background Art

[0002] In the flue anti-corrosion project of a power plant, the quality of the elastomeric anti-corrosion coating sprayed on the inner wall of the flue directly affects the service life and operational safety of the flue; traditional spraying operations mostly rely on manual operation or semi-automatic equipment.

[0003] The application with patent publication number CN222287689U discloses a device for spraying paint on the flue superheater of a coal-fired boiler in a power plant, including a spray gun head body, mounting holes, open-hole bolts and a support assembly. The spray gun head body is provided with several mounting holes, and open-hole bolts are installed in the mounting holes. A support assembly is provided on the surface of the spray gun head body, and a gun holder connecting hole is provided at the tail of the spray gun head body, and a thread is provided in the gun holder connecting hole. The utility model carries the paint into the spray gun head body through compressed gas, and sprays it out at high speed from the small through holes of the six open-hole bolts. The sprayed paint will be atomized under the action of the high-pressure gas, thereby realizing 360° all-round spraying without dead angles, and achieving the purpose of full coverage spraying of the superheater tube wall.

[0004] During the spraying process, the distance between the spray gun and the inner wall of the flue changes with the flue structure, resulting in excessive coverage and too thick coating when spraying at close distances, and insufficient coverage and too thin coating when spraying at long distances, which seriously affects the anti-corrosion effect. Summary of the Invention

[0005] In view of the shortcomings of the existing technology, the present invention provides an intelligent spraying system for the elastomer anti-corrosion layer of a power plant flue, which solves the problem of large differences in the spraying coverage area that easily occur during the spraying process.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: an intelligent spraying system for an elastomer anti-corrosion layer of a power plant flue, comprising: On the route determination side, the preset 3D solid model of the power plant flue is extracted and decomposed into several single faces. The robot's route and spraying body are then determined from the features of the several single faces. The specific method is as follows: Confirm the internal channels associated with the 3D solid model and decompose them into several single faces. Calibrate the center points associated with each single face, then connect several adjacent center points to generate a built-in central axis belonging to the 3D solid model. Integrate N groups of single faces, where N is a preset value. Record the integrated model as a single spray body, and record the subsequent associated spray bodies in sequence according to the single face sorting method. If there are less than 50 groups of single faces remaining, directly integrate the remaining single faces to confirm the corresponding spray body. Use one end point of the built-in central axis as the starting point and the other end point as the end point to determine the walking robot's route; The real-time posture adjustment terminal confirms the walking posture of the walking robot in the power plant flue based on the positioning sensor set in the walking robot, and adjusts the walking posture of the walking robot in real time. The specific method is as follows: Based on the positioning sensor set in the walking robot, the positioning point of the walking robot is confirmed in real time; Then, based on the confirmed travel route, the travel distance associated with the walking robot is confirmed, and the travel point on the travel route is locked; A vertical line is constructed vertically downward from the travel point to evaluate whether the positioning point is located within the constructed vertical line. If so, no posture adjustment is required. If not, the posture of the walking robot is adjusted in real time to ensure that the positioning point is located within the constructed vertical line. The spraying verification center controls the walking robot to the designated position based on the determined spraying object, confirms the closest and farthest points associated with the spraying process, and then confirms the spraying images associated with the closest and farthest points. It locks the radiation area of ​​the spraying image, quantifies the point distance and the radiation area, and confirms the spraying parameters associated with different annular points in the spraying object. The control center adjusts the caliber of the spray gun in real time based on the different spray parameters associated with different points on the center line of the inner wall of the current spray body, and controls the spray gun to spray to the designated point.

[0007] Preferably, the spraying verification center includes an initial control unit, a point analysis unit, an image processing unit and a quantification processing unit; Among them, the initial control unit confirms the real-time position of the walking robot based on the positioning sensor of the walking robot, and simultaneously confirms the alignment direction of the spray gun. After the alignment direction of the spray gun is aligned with the center line of the inner wall of the spray body, the movement process of the walking robot is stopped, completing the initial control process; The point analysis unit controls the spray gun to rotate and move after the walking robot stops moving. During the movement, it confirms the straight-line distance between different points on the center line of the inner wall of the spray body and the spray gun, and locks the nearest point and the farthest point. The specific method is as follows: The straight-line distance from different points on the center line of the inner wall of the spray body to the spray gun is calibrated as L i , where i represents different points, the minimum straight line distance L i The point associated with min is marked as the nearest point, and the maximum straight line distance L i The point associated with max is marked as the farthest point; The image processing unit controls the spray gun to spray toward the nearest and farthest points according to preset parameters, locks the area parameters of the spraying area, and transmits the locked area parameters of different spraying areas to the quantization processing unit. The specific method is as follows: The spray gun is controlled to spray at the nearest and farthest points marked on the inner wall of the spray body. After the spraying is completed at the nearest and farthest points, the image of the area associated with the nearest and farthest points is collected based on the visual equipment. The operating parameters of the spray gun are all preset parameters. For the determined regional image, the pixel values ​​associated with different pixel points in the regional image are confirmed first, and then the vertical gradient and vertical gradient associated with different pixel points are confirmed using the Sobel algorithm, and then the comprehensive gradient is confirmed and calibrated as ZH i , where i represents different pixels, will satisfy ZH i >Y1 pixels are calibrated as gradient pixels, where Y1 is the preset value. i The pixels of >Y1 are not calibrated. Based on the calibrated groups of gradient pixels, the adjacent gradient pixels are connected to generate the regional outline of the corresponding regional image. Based on the regional outline of the corresponding regional image, the area parameters associated with the corresponding regional outline are confirmed. The area parameter associated with the nearest point regional image is recorded as M1, and the area parameter associated with the farthest point regional image is recorded as M2. The quantification processing unit quantifies the area interval and distance interval based on the area parameters of the spraying area corresponding to the nearest point and the farthest point and the straight-line distance from the spray gun. Then, based on the quantified characteristics, the spraying parameters associated with different points on the centerline of the inner wall of the spray body are determined. The specific method is as follows: Confirm the area parameters M1 and M2 of the spraying area corresponding to the nearest point and the farthest point, lock the area interval [M1, M2], and then confirm the straight line distance L associated with the nearest point i min and the straight-line distance L associated with the farthest point i max, locking distance interval [L i min, L i max]; According to the confirmed area interval [M1, M2] and distance interval [L i min, L i max], quantify the distance value, confirm the area range F1 and the distance range F2, use F1÷F2=LH to confirm the quantitative feature LH associated with the distance range, and then confirm the area of ​​other distance values ​​contained in the distance interval based on LH: there is a set of distance values ​​L2 in the proposed distance interval, use (L2-L imin) × LH + M1 = Zm to determine the area parameter Zm associated with the corresponding distance value L2; From the quantification process, the middle value MJ of the area interval is confirmed as the standard value, and the different area parameters Mq associated with different points on the inner wall centerline are confirmed based on the quantification process, where q represents different points. The spray parameters to be adjusted at the corresponding points are confirmed using: (Mq×Ks)÷MJ=Tq, where Ks represents the original preset caliber parameter of the spray gun. The spray parameters Tq associated with different points on the inner wall centerline are confirmed one by one, and several spray parameters Tq belonging to this inner wall centerline are transmitted to the control center.

[0008] Preferably, the center line of the inner wall of the sprayed body is the middle line of the contour lines on both sides of the sprayed body; The characteristic line associated with the spray point of the spray gun and the positioning point of the positioning sensor is the preset line. According to the movement process of the positioning point, the position of the spray point of the spray gun is confirmed and the aiming direction of the spray gun is locked.

[0009] The present invention provides an intelligent spraying system for an elastomer anti-corrosion layer on power plant flue ducts. Compared with existing technologies, it has the following advantages: The real-time posture adjustment terminal monitors and corrects the robot's movement posture in real time through positioning sensors to avoid spraying deviation caused by walking errors; In terms of intelligent and adaptive adjustment, the design of the spray calibration center is particularly critical. It ensures that the spray gun is aligned with the center line of the inner wall of the spray body through the initial control unit, and the point analysis unit accurately locks the nearest and farthest points in the spray range. The image processing unit quantifies the area of ​​the spray area with the help of technologies such as the Sobel algorithm. Finally, the quantitative processing unit establishes a quantitative relationship between distance and area, providing a scientific basis for adjusting the caliber of the spray gun at different points. This full-process intelligent processing from positioning, analysis to quantification enables the system to automatically calculate and generate the optimal spray parameters according to the distance difference of different positions on the inner wall of the flue, realizes dynamic real-time adjustment of the caliber of the spray gun, ensures the consistency of the coating coverage area of ​​each area on the inner wall of the flue, and effectively avoids the situation of excessive or insufficient local spraying; Through intelligent route planning, posture correction, parameter verification and dynamic adjustment, the system achieves high-precision, high-efficiency and high-consistency spraying of the elastomeric anti-corrosion layer on the inner wall of the power plant flue, significantly improving the construction quality and service life of the anti-corrosion coating, and providing reliable guarantee for the long-term stable operation of the power plant flue. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a schematic diagram of the principle framework of the present invention. DETAILED DESCRIPTION

[0011] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0012] See also Figure 1 The present application provides an intelligent spraying system for an elastomer anti-corrosion layer in a power plant flue. During the spraying process, a walking robot is required to walk and spray in the flue of the power plant. The walking robot is provided with a material pump and a material barrel. The material barrel generally has two groups, one group contains isocyanate compounds and the other group contains amine compounds. The two materials are transported from the material barrel to the main machine through the material pump. After being metered, pressurized and heated by the main machine, they are transported to the spray gun. Under high-pressure drive, the two components A and B collide with each other in the mixing chamber of the spray gun, are atomized after turbulent mixing, and are then sprayed onto the base surface of the inner wall of the flue in a very short time. The coating reacts and solidifies quickly to form an overall strong and tough elastomer anti-corrosion coating. Its intelligent spraying specifically includes a route determination end, a posture real-time adjustment end, a spraying verification center and a control center, and the route determination end, the posture real-time adjustment end, the spraying verification center and the control center are electrically connected from the output node to the input node in sequence; The route determination end extracts a preset 3D solid model of the power plant flue (built in advance by relevant personnel based on the flue's dimensions) and confirms the robot's route from the 3D solid model. The robot's route corresponds to the built-in central axis of the flue model. The route is confirmed as follows: Confirm the internal channel associated with the three-dimensional solid model, decompose the internal channel into several single faces (the model body can be decomposed into several faces), calibrate the center point associated with each single face, and then connect several adjacent center points to generate a built-in central axis belonging to the three-dimensional solid model, and integrate N groups of single faces. N is a preset value, and here N is generally 50 groups. The integrated model monomer is recorded as a single spray body, and the subsequent associated spray bodies are recorded in sequence according to the sorting method of the single faces. If there are less than 50 groups of single faces remaining, the corresponding spray body can be confirmed by directly integrating the remaining single faces. The inner wall surface of each spray body is the area that needs to be sprayed in each spraying process, that is, the area that can be effectively sprayed when the walking robot sprays one circle. Therefore, 50 groups of single faces are selected here because the area covered during the spraying process is basically the same as the area of ​​50 groups of single faces. Use one end point of the built-in central axis as the starting point and the other end point as the end point to determine the walking robot's route; Specifically, a model body can be decomposed into several faces according to the decomposition direction. The decomposition direction selected here is the flow direction of the channel. Each face has a corresponding center point. By connecting the corresponding center points, the built-in central axis of the specified model body can be confirmed.

[0013] Among them, the real-time posture adjustment end, after the walking robot enters the power plant flue, confirms the walking robot's walking posture in the power plant flue according to the positioning sensor set in the walking robot, and adjusts the walking robot's walking posture in real time. There must be some errors in the walking process of the walking robot, so in order to achieve a better spraying situation, it is necessary to adjust the posture to ensure the accuracy of the spraying process. In the actual spraying process, the robot starts to spray from the starting point to the end point, and enters the flue first to spray the first spray object. The spraying mechanism is located at the tail of the spraying robot to avoid wheel marks on the robot's walking wheels during the spraying process; The specific method of adjusting the walking posture of the walking robot in real time is as follows: Based on the positioning sensor set in the walking robot, the positioning point of the walking robot is confirmed in real time; Then, based on the confirmed travel route, the walking distance associated with the walking robot is confirmed, and the travel point is locked on the travel route. The length data between the travel point and the starting point is the confirmed walking distance; A vertical line is constructed vertically downward from the travel point to evaluate whether the positioning point is located within the constructed vertical line. If so, no posture adjustment is required. If not, the posture of the walking robot is adjusted in real time to ensure that the positioning point is located within the constructed vertical line. Specifically, the purpose here is to keep the robot in a straightened state in real time. When the robot is in a straightened state, it can effectively guarantee the spraying process, so as to achieve the best spraying calibration effect.

[0014] Among them, the spraying verification center controls the walking robot to move to the specified position according to the determined spraying body, confirms the nearest point and the farthest point associated with the spraying process, and then confirms the spraying image associated with the nearest point and the farthest point, locks the radiation area of ​​the spraying image, quantifies the point distance and the radiation area, confirms the spraying parameters associated with different annular points in the spraying body and transmits them to the control center, which executes the complete spraying process.

[0015] As a further embodiment of this embodiment, the spraying calibration center includes a primary control unit, a point analysis unit, an image processing unit, and a quantification processing unit, and the primary control unit, the point analysis unit, the image processing unit, and the quantification processing unit are electrically connected in sequence from the output node to the input node; Among them, the initial control unit confirms the real-time position of the walking robot based on the positioning sensor of the walking robot, and simultaneously confirms the alignment direction of the spray gun. After the alignment direction of the spray gun is aligned with the center line of the inner wall of the spray body, the movement process of the walking robot is stopped, completing the initial control process: The center line of the inner wall of the spray body is the middle line of the contour lines on both sides of the spray body (if it is a circular cylinder, the center circle is confirmed by two circles, and the ring line of the center circle is the corresponding middle line. The same confirmation is carried out for other shapes). The characteristic line associated with the spray point of the spray gun and the positioning point of the positioning sensor is the preset line. According to the movement process of the positioning point, the position of the spray point of the spray gun can be confirmed, and the alignment direction of the spray gun can be locked; The point analysis unit controls the spray gun to rotate and move after the walking robot stops moving. During the movement, it confirms the straight-line distance between different points on the inner wall of the spray body and the spray gun, and locks the nearest and farthest points: The straight-line distance from different points on the center line of the inner wall of the spray body to the spray gun is calibrated as L i , where i represents different points, the minimum straight line distance L i The point associated with min is marked as the nearest point, and the maximum straight line distance L i The point associated with max is calibrated as the farthest point, and its straight-line distance is confirmed by the built-in radar sensor; The image processing unit controls the spray gun to spray toward the nearest and farthest points according to preset parameters, locks the area parameters of the spraying area, and transmits the locked area parameters of different spraying areas to the quantization processing unit. The specific method of locking the area parameters is as follows: The spray gun is controlled to spray at the nearest and farthest points marked on the inner wall of the spray body. The operating parameters of the spray gun are all preset parameters, including spray rate, spray pressure, spray time and other related parameters, which are prepared in advance by the relevant operators based on experience. After the spraying process is completed at the nearest and farthest points, the image of the area associated with the nearest and farthest points is collected based on the visual equipment; For the determined regional image, the pixel values ​​associated with different pixel points in the regional image are confirmed first, and then the vertical gradient and vertical gradient associated with different pixel points are confirmed using the Sobel algorithm, and then the comprehensive gradient is confirmed and calibrated as ZH i, where i represents different pixel points. The process of confirming the gradient value through the Sobel algorithm is relatively common in the prior art, so it will not be described in detail here. Generally, based on the pixel value associated with the corresponding pixel point, the pixel values ​​of other surrounding pixels are confirmed synchronously. Then, based on the preset convolution factor, the pixel values ​​of several groups of pixels are convolved and summed to confirm the vertical gradient and vertical gradient associated with the corresponding pixel point, and the associated comprehensive gradient ZH i = , will satisfy ZH i >Y1 pixels are calibrated as gradient pixels, where Y1 is a preset value. Its specific value is determined by the operator based on experience. i The pixels of >Y1 are not calibrated. Based on the calibrated groups of gradient pixels, the adjacent gradient pixels are connected to generate the regional outline of the corresponding regional image. Based on the regional outline of the corresponding regional image, the area parameters associated with the corresponding regional outline are confirmed. The area parameter associated with the nearest point regional image is recorded as M1, and the area parameter associated with the farthest point regional image is recorded as M2. Specifically, within a regional image, the acquired range must exceed the spraying range. In order to more accurately confirm the specific area value of the spraying range, it is necessary to confirm the specific range outline of the spraying range, and lock the comprehensive gradient associated with the corresponding pixel point based on the vertical gradient and the vertical gradient associated with the corresponding pixel point. Then, based on the comprehensive gradient, confirm whether the corresponding pixel point is a gradient pixel point. Subsequently, based on the surrounding situation of the gradient pixel point, the overall range of the corresponding pixel point can be quickly locked, thereby quickly locking the area value of the corresponding spraying range. Different area values ​​correspond to different spraying distances. Then, when the spraying parameters are consistent, the size of the spraying area can be numerically quantified according to the different spraying distances, and then the spray diameter of the spray gun can be limited and adjusted to achieve the optimal spraying effect, thereby ensuring that the spray particle size and range of each area are relatively consistent, and there will be no situation where some spraying areas are too large and some spraying areas are too small.

[0016] The quantification processing unit quantifies the area interval and the distance interval according to the area parameters of the spraying area corresponding to the nearest point and the farthest point and the straight-line distance from the spray gun. Then, based on the quantification characteristics, the spraying parameters associated with different points on the centerline of the inner wall of the spray body are determined. The spraying parameters here correspond to the caliber of the spray gun nozzle. The smaller the caliber, the smaller the radiation range, which is suitable for long distances. The larger the caliber, the larger the radiation range, which is suitable for close distances. Therefore, in order to make the spray range relatively consistent, the caliber of the spray gun can be adjusted to achieve the best spraying effect. Among them, the specific method for confirming the corresponding spraying parameters at different points on the center line of the inner wall is: Confirm the area parameters M1 and M2 of the spraying area corresponding to the nearest point and the farthest point, and lock the area interval [M1, M2]. M1 must be smaller than M2. If M1 is greater than M2, it means that there is an abnormality in the spray gun during the spraying process, the caliber is damaged or other conditions, and then confirm the straight line distance L associated with the nearest point. i min and the straight-line distance L associated with the farthest point i max, locking distance interval [L i min, L i max]; According to the confirmed area interval [M1, M2] and distance interval [L i min, L i max], quantify the distance value, confirm the area range F1 and the distance range F2, use F1÷F2=LH to confirm the quantitative feature LH associated with the distance range, and then confirm the area of ​​other distance values ​​contained in the distance interval based on LH: there is a set of distance values ​​L2 in the proposed distance interval, use (L2-L i min) × LH + M1 = Zm to confirm the area parameter Zm associated with the corresponding distance value L2, F1 = M2-M1, F2 = L i max-L i min; From the quantification process, confirm the middle value MJ of the area interval as the standard value, and confirm the different area parameters Mq associated with different points on the center line of the inner wall according to the quantification process, where q represents different points, and use: (Mq×Ks)÷MJ=Tq to confirm the spray parameters to be adjusted at the corresponding points, where Ks represents the original preset caliber parameter of the spray gun, that is, the preset diameter of the nozzle, and its spray parameter is also the caliber parameter to be adjusted in the spraying process. If Tq is larger than Ks, then it needs to be adjusted upward, otherwise, it needs to be adjusted in the opposite direction. Its Tq is converted from the determination formula: (MJ÷Mq)=(Ks÷Tq). The ratio of the caliber is consistent with the ratio of the corresponding area parameter. The spray parameters Tq associated with different points on the center line of the inner wall are confirmed one by one, and several spray parameters Tq belonging to this inner wall center line are transmitted to the control center.

[0017] Among them, the control center adjusts the caliber of the spray gun in real time according to the different spraying parameters Tq associated with different points on the center line of the inner wall of the current spray body, and controls the spray gun to spray to the designated point. Specifically, variable-caliber nozzles are more common on the market, so they will not be described in detail here. In the subsequent process, after the spraying of the current spray body is completed, the second group of spray bodies will be sprayed, and so on, the subsequent third group of spray bodies, the fourth group of spray bodies,..., and subsequent different spray bodies will be sprayed.

[0018] Some of the data in the above formulas are dimensionless and numerically calculated. Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0019] The above embodiments are only used to illustrate the technical method of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical method of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical method of the present invention.

Claims

1. An intelligent spraying system for elastomer anti-corrosion layer of flue gas in power plants, characterized by: include: On the route determination side, the preset three-dimensional solid model of the power plant flue is extracted and decomposed into several single faces. The travel route and spraying body of the walking robot are confirmed from the features of the several single faces. The real-time posture adjustment terminal confirms the walking posture of the walking robot in the power plant flue based on the positioning sensor set in the walking robot, and adjusts the walking posture of the walking robot in real time; The spraying verification center controls the walking robot to the designated position based on the determined spraying object, confirms the closest and farthest points associated with the spraying process, and then confirms the spraying images associated with the closest and farthest points. It locks the radiation area of ​​the spraying image, quantifies the point distance and the radiation area, and confirms the spraying parameters associated with different annular points in the spraying object. The control center adjusts the caliber of the spray gun in real time based on the different spray parameters associated with different points on the center line of the inner wall of the current spray body, and controls the spray gun to spray to the designated point.

2. The intelligent spraying system for the elastomer anti-corrosion layer of a power plant flue according to claim 1 is characterized in that: The specific method for the route determination end to confirm the travel route and the spraying object is: Confirm the internal channels associated with the 3D solid model and decompose them into several single faces. Calibrate the center points associated with each single face, then connect several adjacent center points to generate a built-in central axis belonging to the 3D solid model. Integrate N groups of single faces, where N is a preset value. Record the integrated model as a single spray body, and record the subsequent associated spray bodies in sequence according to the single face sorting method. If there are less than 50 groups of single faces remaining, directly integrate the remaining single faces to confirm the corresponding spray body. Use one end point of the built-in central axis as the starting point and the other end point as the end point to determine the walking robot's route.

3. The intelligent spraying system for the elastomer anti-corrosion layer of a power plant flue according to claim 1 is characterized in that: The specific method of the posture real-time adjustment terminal for adjusting the walking posture of the walking robot in real time is: Based on the positioning sensor set in the walking robot, the positioning point of the walking robot is confirmed in real time; Then, based on the confirmed travel route, the travel distance associated with the walking robot is confirmed, and the travel point on the travel route is locked; A vertical line is constructed vertically downward from the travel point to evaluate whether the positioning point is located within the constructed vertical line. If so, no posture adjustment is required. If not, the posture of the walking robot is adjusted in real time to ensure that the positioning point is located within the constructed vertical line.

4. The intelligent spraying system for the elastomer anti-corrosion layer of a power plant flue according to claim 1 is characterized in that: The spraying calibration center includes an initial control unit, a point analysis unit, an image processing unit, and a quantitative processing unit; Among them, the initial control unit confirms the real-time position of the walking robot based on the positioning sensor of the walking robot, and simultaneously confirms the alignment direction of the spray gun. After the alignment direction of the spray gun is aligned with the center line of the inner wall of the spray body, the movement process of the walking robot is stopped, completing the initial control process; The point analysis unit controls the spray gun to rotate and move after the walking robot stops moving. During the movement, it confirms the straight-line distance between different points on the center line of the inner wall of the spray body and the spray gun, and locks the nearest and farthest points. The image processing unit controls the spray gun to spray toward the nearest point and the farthest point according to preset parameters, locks the area parameters of the spraying area, and transmits the locked area parameters of different spraying areas to the quantization processing unit; The quantification processing unit quantifies the area interval and distance interval according to the area parameters of the spraying area corresponding to the nearest point and the farthest point and the straight-line distance from the spray gun, and then confirms the spraying parameters associated with different points on the center line of the inner wall of the spray body based on the quantitative characteristics.

5. The intelligent spraying system for the elastomer anti-corrosion layer of a power plant flue according to claim 4 is characterized in that: The center line of the spray coating body wall is the middle line of the contour lines on both sides of the spray coating body; The characteristic line associated with the spray point of the spray gun and the positioning point of the positioning sensor is the preset line. According to the movement process of the positioning point, the position of the spray point of the spray gun is confirmed and the aiming direction of the spray gun is locked.

6. The intelligent spraying system for the elastomer anti-corrosion layer of a power plant flue according to claim 4 is characterized in that: The point analysis unit locks the nearest point and the farthest point in the following specific manner: The straight-line distance from different points on the center line of the inner wall of the spray body to the spray gun is calibrated as L i , where i represents different points, the minimum straight line distance L i The point associated with min is marked as the nearest point, and the maximum straight line distance L i The point associated with max is marked as the farthest point.

7. The intelligent spraying system for the elastomer anti-corrosion layer of a power plant flue according to claim 4 is characterized in that: The specific method of the image processing unit to lock the area parameters of the spraying area is: The spray gun is controlled to spray at the nearest and farthest points marked on the inner wall of the spray body. After the spraying is completed at the nearest and farthest points, the image of the area associated with the nearest and farthest points is collected based on the visual equipment. The operating parameters of the spray gun are all preset parameters. For the determined regional image, the pixel values ​​associated with different pixel points in the regional image are confirmed first, and then the vertical gradient and vertical gradient associated with different pixel points are confirmed using the Sobel algorithm, and then the comprehensive gradient is confirmed and calibrated as ZH i , where i represents different pixels, will satisfy ZH i >Y1 pixels are calibrated as gradient pixels, where Y1 is the preset value. i The pixels of >Y1 are not calibrated. Based on the calibrated groups of gradient pixel points, the adjacent gradient pixel points are connected to generate the regional outline of the corresponding regional image. Based on the regional outline of the corresponding regional image, the area parameters associated with the corresponding regional outline are confirmed. The area parameter associated with the nearest point regional image is recorded as M1, and the area parameter associated with the farthest point regional image is recorded as M2.

8. The intelligent spraying system for the elastomer anti-corrosion layer of a power plant flue according to claim 7 is characterized in that: The specific method of the quantitative processing unit to confirm the spraying parameters associated with different points on the center line of the inner wall of the spraying body is: Confirm the area parameters M1 and M2 of the spraying area corresponding to the nearest point and the farthest point, lock the area interval [M1, M2], and then confirm the straight line distance L associated with the nearest point i min and the straight-line distance L associated with the farthest point i max, locking distance interval [L i min, L i max]; According to the confirmed area interval [M1, M2] and distance interval [L i min, L i max], quantify the distance value, confirm the area range F1 and the distance range F2, use F1÷F2=LH to confirm the quantitative feature LH associated with the distance range, and then confirm the area of ​​other distance values ​​contained in the distance interval based on LH: there is a set of distance values ​​L2 in the proposed distance interval, use (L2-L i min) × LH + M1 = Zm to determine the area parameter Zm associated with the corresponding distance value L2; From the quantification process, the middle value MJ of the area interval is confirmed as the standard value, and the different area parameters Mq associated with different points on the inner wall centerline are confirmed based on the quantification process, where q represents different points. The spray parameters to be adjusted at the corresponding points are confirmed using: (Mq×Ks)÷MJ=Tq, where Ks represents the original preset caliber parameter of the spray gun. The spray parameters Tq associated with different points on the inner wall centerline are confirmed one by one, and several spray parameters Tq belonging to this inner wall centerline are transmitted to the control center.

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