Research On Visual Guidance And Autonomous Operation Technology Of Sandblasting Manipulator For Large Components Of Offshore Platform

The ocean contains abundant non-renewable resources such as oil and gas.In recent years,with my country's exploitation and utilization of marine resources,the construction of marine platforms has gradually increased.Offshore platforms are mainly made up of large-scale steel components and are corroded by sea water and humid air for a long time.Therefore,the demand for sandblasting of large-scale steel components for offshore platforms has gradually increased.As we all know,the sandblasting working environment is very harsh,full of various harmful factors such as dust and noise.The harsh working environment is extremely harmful to the physical and mental health of the workers.Therefore,this paper designs a sandblasting manipulator based on visual guidance technology to replace people to complete the work in harsh working environments and reduce the harm to humans.This research is of great significance in terms of practicability and economy.In this paper,through the static analysis of the sandblasting manipulator,the static positioning error of the manipulator is calculated according to the shape variables of each direction.The Denavit-Hartenberg Matrix is used to construct the kinematics coordinate system of sandblasting manipulator,and the kinematic model of the manipulator is constructed on this basis.The kinematics of the manipulator is simulated and analyzed by software to verify the correctness of the kinematics and obtain the inverse solution of the kinematics of the manipulator.Solve the limit operating range of the manipulator by using graphical method.In-depth analysis of the establishment and solution methods of a variety of commonly used dynamics mathematical models of robots,Combined with the structure of the sandblasting manipulator,Calculate the kinetic energy and potential energy of each member of the manipulator.The Lagrange method was used to construct the dynamic model of the manipulator.The dynamic model of the manipulator is simulated by ADAMS simulation software to verify the correctness of the dynamic model.According to the actual needs of the sandblasting manipulator,through experiments and calculation analysis,It is finally determined that the "Eye-in-Hand" hand-eye system form is the basic form of the visual guidance system.Developed a hand-eye coordination control process suitable for sandblasting manipulators,The calibration of the camera and energy saving treatment have been completed.Through the cyclic reciprocating hand-eye coordination control strategy,the image information acquisition function of sandblasting manipulator is realized.Through the use of weighted RGB average method,adaptive histogram equalization method,median filter method,Canny operator detection method,multiple image comparison method and other methods,the visual guidance system of sandblasting manipulator is constructed.According to the requirements of independent sandblasting operations,the work flow under the cooperation of each system is designed.Based on the analysis of the impact point of the sandblasting gun,the simulation experiment of jet velocity and the experiment of sandblasting belt,The best matching speed parameters between the trajectory speed of the sandblasting manipulator actuator and the sandblasting rate are determined.The blasting path planning of the manipulator is realized by designing two layering methods for self-adaptive adjustment of layer height.The specific path of each layer of the sandblasting point is solved by using the global search and adaptation method and the Boolean operation summing method to solve the layering process.Finally,layered experiments and sandblasting experiments are used to verify the effectiveness and feasibility of the manipulator kinematics model,dynamics model,path planning,and visual guidance strategy.