Research on Robot Blade Cleaning Method Based on Visual Servo

Aiming at the problem that: when stirring blades of a vertical mixer stop, the spatial position of blades is random and the surface configuration of blades is complex. Robots cannot clean blade surfaces effectively. In this paper, the camera is installed at the end of the robot. Using the robot visual servo, the camera successfully reads the designed rotation marker code; and obtains the exact posture of the blade from the marker code. Finally, Retrieve the corresponding blade cleaning program to implement the robot's blade cleaning. In the end, the experimental platform is built to prove that the contact force between the end of the robot and the blade surface is normal during the cleaning process., and the trajectory path runs normally. This method can effectively implement the cleaning of the blade surface.

I. Introduction

In the process of rocket propellant mixing, it is necessary to clean the blade surface. But due to the particularity of the working environment, manual cleaning has the disadvantages of low safety and low efficiency. It is proposed to use robot automation equipment for operation. However, considering the complexity of blade spatial pose, it is not conducive to robot cleaning work directly. Therefore, in this paper, a robot visual servo is used to control the robot to achieve blade cleaning work.