In this paper, aiming at the problem of poor quality and low spraying efficiency of irregular for complex freeform surfaces, a new spray painting robot trajectory planning method based on point cloud slicing technology is proposed. Firstly, the point cloud data of the workpiece to be sprayed is obtained by laser scanning. The point cloud data is processed to obtain the point cloud model of the sprayed workpiece. Then the section polysemy line is obtained after slice acquisition and section data processing of the point cloud model. The section polysemy line is sampled on average, and the normal vector of all sampling points is estimated. Finally, interpolation algorithm is used to connect the data points to obtain the space trajectory of spraying robot. In addition, the droplet trajectory model for electrostatic spray painting is established. The experimental results show that the method fully meets the requirements of coating thickness and improves the spraying efficiency and uniformity of coating.

The Underwater Vehicle Manipulator System (UVMS) is an essential equipment for underwater operations. However, it is difficult to control due to the constrained problems of weak illumination, multidisturbance, and large inertia in the underwater environment. After the UVMS mathematical model based on water flow disturbance is established, fusion image enhancement algorithm based on Retinex theory is proposed to achieve fine perception of the target. The control method based on redundant resolution algorithm is adopted to establish the anti-interference controller of the manipulator, which can compensate the internal and external uncertain interference. Finally, stable underwater operation is realized. The target ranging method is used to solve the angle of each joint of the manipulator to complete the tracking and grasping of the target. Underwater experiments show that the algorithm can improve the clarity of underwater images, ensure the accuracy of robot capture, and optimize the UVMS control performance.

This paper introduces the algorithms of image processing of ship segments and designs the vision module of spraying robot. Firstly, the image of the target object is collected and gray-level processing is adopted. Then, the filtering and noise reduction operation is carried out. Several common filtering and noise reduction methods are compared to select the appropriate median filtering method in this paper. In addition, in the process of image segmentation, the threshold segmentation and various edge detection operators are expounded, and the advantages and disadvantages of the relevant methods are discussed in detail. Canny edge detection algorithm suitable for segmented spraying for ships is chosen. In feature extraction, hough line transform is selected to detect and extract the linear features of the target workpiece in this paper, and the visual measurement system is simply calibrated to obtain the pixel ratio value which can be used to measure the width and height of the workpiece. The parameters are provided for the path of piecewise spraying.