CN-116748037-B - Control method of multi-foot bionic ship spraying robot

CN116748037BCN 116748037 BCN116748037 BCN 116748037BCN-116748037-B

Abstract

The invention discloses a control method of a multi-foot bionic ship spraying robot, which relates to the technical field of ship spraying, and aims to control the opening mode of an electromagnet by acquiring ship surface information of a current landing point and a next landing point of legs and combining the gesture of the robot, and determine the suction size of the electromagnet on each leg by reading the pressure value of a pressure sensor, so as to adjust the suction size of the electromagnet, realize high-efficiency self-adaptive control, ensure that the robot can cope with the change of the ship surface, provide guarantee for the reliable work of the robot, and realize energy conservation and consumption reduction. In addition, the central control system can determine a walking mode of the robot according to the current surface state of the ship, so that the complex surface operation capability and the moving capability of the robot are ensured, meanwhile, the central control system controls the rotation of each joint of the mechanical arm, so that the spray gun uniformly moves relative to the surface of the ship, the uniform spraying is ensured, and the spraying quality detection can be automatically carried out after the spraying is finished.

Inventors

YANG GUIZHI
CHEN JIE
WU YIMING
CHEN XIANGYU
WU WENCAN
LIU YUHUAI
LI ZHEN
Zhong Xungao
HUAN ZHIJIE

Assignees

厦门理工学院

Dates

Publication Date: 20260512
Application Date: 20230504

Claims (6)

1. A control method of a multi-foot bionic ship spraying robot is characterized in that the multi-foot bionic ship spraying robot comprises a spray gun, a machine body, a plurality of legs and a mechanical arm, wherein the side surface of the machine body is provided with the legs; the upper end face of the machine body is provided with a cradle head, the spray gun is connected with the cradle head through a mechanical arm, the leg is connected with an electromagnet in a universal movable way through a ball head connecting assembly, the electromagnet is provided with a pressure sensor, the machine body is provided with a first camera and a second camera, and a central control system is arranged in the machine body; the control method of the multi-foot bionic ship spraying robot comprises the following steps: (1) The central control system establishes an XYZ three-dimensional coordinate system by taking a horizontal plane as an X-Y dimensional plane; (2) The method comprises the steps that a first camera obtains first image information of the periphery of a current landing point of a leg, and a central control system obtains first ship surface information based on a three-dimensional coordinate system according to the first image information; (3) The second camera acquires second image information of a next landing point below the leg, and the central control system acquires second ship surface information based on a three-dimensional coordinate system according to the second image information; (4) The central control system judges whether the surface of the second ship is a loading force surface or a positive gravity surface according to the surface information of the second ship; (5) If the second ship surface is a loading force surface, when the legs start to fall towards the second ship surface, the electromagnet is started by the initial current I 0 , so that the electromagnet generates an initial magnetic force Wherein k is a constant, I 0 is the initial current of the coil, W is the number of turns of the coil, when the leg stops falling, the central control system gradually increases the current I of the electromagnet from the initial current I 0 until the pressure value Wherein G is the weight of the whole machine of the multi-foot bionic ship spraying robot, n is the minimum leg number contacting the surface of the ship in the process of proceeding; Is the tolerance of the pressure sensor, theta 2 is the included angle between the second ship surface and the X-Y dimensional surface, and mu is the friction coefficient of the ship surface.
2. The control method of the multi-foot bionic ship spraying robot according to claim 1, wherein the control method comprises the following steps: In the step (5), if the second ship surface is a load bearing surface, when the leg stops falling, the central control system gradually increases the current I of the electromagnet from the initial current I 0 until the pressure value is { , Within the interval; the step (5) further comprises that when the second ship surface is a positive gravity surface and the legs fall to the second ship surface and stop, the central control system gradually increases the current I of the electromagnet from 0 until the pressure value N is in { , Within the interval.
3. The method for controlling the multi-foot bionic ship spraying robot according to claim 2, wherein the step (4) further comprises judging whether the first ship surface is a loading force surface or a positive gravity surface; In the step (5), if the first ship surface and the second ship surface are both load bearing surfaces, the pressure value is reached Wherein, theta 1 is the included angle between the first ship surface and the X-Y dimensional surface; If the first ship surface is a positive gravity surface and the second ship surface is a load bearing surface, the pressure value is reached 。
4. The method for controlling the multi-foot bionic ship spraying robot according to claim 2, wherein the step (4) further comprises judging whether the first ship surface is a loading force surface or a positive gravity surface; In the step (5), if the first ship surface and the second ship surface are both positive gravity surfaces, the pressure value is reached ; If the first ship surface is a negative gravity surface and the second ship surface is a positive gravity surface, the pressure value is reached 。
5. The control method of the multi-foot bionic ship spraying robot according to any one of claims 1 to 4, wherein three legs are symmetrically arranged on the left side surface and the right side surface of the machine body respectively, the control method further comprises the step that the central control system controls six legs to travel in an alternating triangular gait, and meanwhile, the central control system controls the mechanical arm to enable the spray gun to travel at a constant speed relative to the surface of the ship.
6. The control method of the multi-foot bionic ship spraying robot is characterized in that the second camera is arranged on the top of the machine body, the first camera is arranged on the abdomen of the machine body in an embedded mode, the multi-foot bionic ship spraying robot further comprises an image preprocessing module and a spraying defect detector, the control method further comprises the steps that the image preprocessing module performs image preprocessing on first image information based on an image preprocessing algorithm of a combined bilateral filtering algorithm, and then the spraying defect detector recognizes images to detect spraying quality.

Description

Control method of multi-foot bionic ship spraying robot Technical Field The invention relates to the technical field of ship spraying, in particular to a control method of a multi-foot bionic ship spraying robot. Background As an important transportation means, ships play an important role in national economy and life. The ship is made of steel. In order to prevent problems such as rust, corrosion, and adhesion of organisms, paint spraying is performed to protect ships. However, most of the current spraying of ship shells adopts a manual spraying mode, and the manual spraying has the defects of high cost, low efficiency, poor quality, harm to physical health, high risk and the like. Automatic spraying devices, equipment, and alternatives to manual spraying are highly desirable. As a spraying robot for a ship disclosed in the patent with publication No. CN115228650a, an automatic spraying robot for a ship disclosed in the patent with publication No. CN105689174a is generally a wheel type landing robot, which has a large volume and relatively simple functions, and can only operate in a dock, but cannot directly perform walking spraying on the elevation or load inclined plane of the ship. Disclosure of Invention The invention mainly aims to provide a control method of a multi-foot bionic ship spraying robot, which can effectively solve the technical problems in the background technology. In order to achieve the above purpose, the technical scheme adopted by the invention is as follows: The control method of the multi-foot bionic ship spraying robot comprises a spray gun, a machine body, a plurality of legs and a mechanical arm, wherein the side surface of the machine body is provided with the legs; the upper end face of the machine body is provided with a cradle head, the spray gun is connected with the cradle head through a mechanical arm, the leg is connected with an electromagnet in a universal movable way through a ball head connecting assembly, the electromagnet is provided with a pressure sensor, the machine body is provided with a first camera and a second camera, and a central control system is arranged in the machine body; the control method of the multi-foot bionic ship spraying robot comprises the following steps: (1) The central control system establishes an XYZ three-dimensional coordinate system by taking a horizontal plane as an X-Y dimensional plane; (2) The method comprises the steps that a first camera obtains first image information of the periphery of a current landing point of a leg, and a central control system obtains first ship surface information based on a three-dimensional coordinate system according to the first image information; (3) The second camera acquires second image information of a next landing point below the leg, and the central control system acquires second ship surface information based on a three-dimensional coordinate system according to the second image information; (4) The central control system judges whether the surface of the second ship is a loading force surface or a positive gravity surface according to the surface information of the second ship; (5) If the second ship surface is a loading force surface, when the leg begins to fall towards the second ship surface, starting the electromagnet by using an initial current I 0 to enable the electromagnet to generate an initial magnetic force F 0＝k(I0·W)2, wherein k is a constant, and parameters related to the structures such as coil cross-sectional area, iron core material, air gap and the like are represented by I 0, wherein W is the initial current of the coil, and W is the number of turns of the coil, when the leg stops falling, the central control system gradually increases the current I of the electromagnet from the initial current I 0 until the pressure value Wherein G is the total weight of the multi-foot bionic ship spraying robot, N is the minimum leg number contacting the ship surface in the process, delta N is the tolerance of the pressure sensor, theta 2 is the included angle between the second ship surface and the X-Y dimension surface, and mu is the friction coefficient of the ship surface. Further, in the step (5), if the second ship surface is a loading surface, when the leg stops falling, the central control system gradually increases the current I of the electromagnet from the initial current I 0 until the pressure value is inThe interval is within; The step (5) further comprises that when the second ship surface is a positive gravity surface and the legs fall to the second ship surface and stop, the central control system gradually increases the current I of the electromagnet from 0 until the pressure value N is in Within the interval. Further, the step (4) further includes judging whether the first ship surface is a loading force surface or a positive gravity surface; In the step (5), if the first ship surface and the second ship surface are both load bearing surfaces, the pressure value is rea