The invention discloses a hull rust removal method, and the hull rust removal method is applied to hull rust removal equipment. A two-dimensional image of the surface of a ship body is obtained through an acquisition device, an image algorithm is used for recognizing the contour of a rust point, rust point coordinates and jet parameters are obtained, path planning is conducted on the coordinates and the jet parameters through a TSP intelligent algorithm, and a jet device is controlled to conduct rust removal on the rust point. Rust parts of a ship body are irregularly distributed, the sizes of rust spots are different, the rust degrees are different, the positions and the sizes of the rust parts are considered, the rust removal path planning problem is converted into the TSP problem, the moving path planning problem of a rust removal device is simplified, an optimized path planning method is used, and movement of jet flow rust removal equipment and change of jet flow parameters are reduced.

    本发明公开了一种船体除锈方法,船体除锈方法应用于船体的除锈设备,所述船体除锈方法包括以下步骤;利用采集装置获取船体表面二维图像、利用图像算法识别锈点轮廓并获得锈点坐标和射流参数、对坐标和射流参数利用TSP智能算法进行路径规划、控制射流装置对锈点进行除锈。船体的锈蚀部分分布无规律性,锈蚀斑点大小不一,锈蚀程度不同,考虑锈蚀部分的位置和大小,将除锈路径规划问题转变为TSP问题,简化除锈装置的移动路径规划问题,使用优化的路径规划方法,减少射流除锈设备的移动以及射流参数的改变。


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Hull rust removal method


    Weitere Titelangaben:

    一种船体除锈方法


    Beteiligte:
    ZHANG HAO (Autor:in) / LIU QIHONG (Autor:in) / LI WEIGUANG (Autor:in) / JI XUEHUAN (Autor:in)

    Erscheinungsdatum :

    2023-09-05


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B63B Schiffe oder sonstige Wasserfahrzeuge , SHIPS OR OTHER WATERBORNE VESSELS / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen



    RUST PREVENTIVE OIL REMOVAL DEVICE AND RUST PREVENTIVE OIL REMOVAL METHOD

    ABE TAKESHI / NOKAKIUCHI RYO / NAKADA MASAMICHI et al. | Europäisches Patentamt | 2022

    Freier Zugriff

    Rust removal robot

    WANG LIPING / XU HUAYANG / WANG ZHICHAO et al. | Europäisches Patentamt | 2020

    Freier Zugriff

    Rust removal robot

    LI CHUNYIN | Europäisches Patentamt | 2021

    Freier Zugriff

    Positioning method and system for wall-climbing robot for rust removal of splicing seam of hull plate

    ZHANG KE / ZHANG CHI / CHEN RONGTAO | Europäisches Patentamt | 2021

    Freier Zugriff

    Underwater hull sand blasting, rust removing and abrasive recycling equipment

    ZHANG ZIHUA | Europäisches Patentamt | 2021

    Freier Zugriff