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http://dx.doi.org/10.5391/JKIIS.2016.26.5.383

Development and Performance Evaluation of Hull Blasting Robot for Surface Pre-Preparation for Painting Process  

Lee, JunHo (Marine Space Ltd.)
Jin, Taeseok (Department of Mechatronics Engineering, Dongseo University)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.26, no.5, 2016 , pp. 383-389 More about this Journal
Abstract
In this paper, we present the hull blasting machine with vision-based weld bead recognition device for cleaning shipment exterior wall. The purpose of this study is to introduce the mechanism design of the high efficiency hull blasting machine using the vision system to recognize the weld bead. Therefore, we have developed a robot mechanism and drive controller system of the hull blasting robot. And hull blasting characteristics such as the climbing mechanism, vision system, remote controller and CAN have been discussed and compared with the experimental data. The hull blasting robots are able to remove rust or paint at anchor, so the re-docking is unnecessary. Therefore, this can save time and cost of undergoing re-docking process and build more vessels instead. The robot uses sensors to navigate safely around the hull and has a filter system to collect the fouling removed. We have completed a pilot test of the robot and demonstrated the drive control and CAN communication performance.
Keywords
Hull Cleaning Robot; Bblasting; CAN; Vision; Weld Bead;
Citations & Related Records
Times Cited By KSCI : 6  (Citation Analysis)
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