Research of positioning method for automatic spraying on large ship block surfaces

摘要

Now, there is no automatic spraying technology which is used to spray ships with the help of spraying robots, because the outside surface of ships is large and complex. The huge outside surface of ships makes it impossible to determine the absolute position and attitude of the surface in the space, which impedes the application of mobile spraying robots in the ship block spraying. This paper puts forward a positioning technology which can be used for the ship block automatic spraying of the complex surface of large ships: the position and coordinate of ships is the research object, and with the use of the total-station device, the position and attitude of large ship blocks in the space can be determined accurately through the change of spatial points. Meanwhile, according to the calculation principle of the total-station device, the influence of the position of the total station on the positioning accuracy is analyzed, and when it comes to the measuring errors of length and angle, the best angle and distance used to build the total station is obtained through the combination of simulation and theories and the existing conclusion is modified. Finally, this conclusion is verified through the calibration in the experiment and the feasibility of this scheme applied to the positioning of large curved surfaces is also demonstrated.