Research on the method of path planning for slag-removing on the surface of zinc pot

During the production process of cold-rolled hot-dip galvanizing, the slag on the surface of the zinc pot will affect the quality of the product. The zinc slag is mostly collected manually or by robots at present. The effect of manual salvage is unstable and the operation is unsafe. The robot cannot identify the location of the zinc slag and can only salvage it according to a fixed rule, resulting in low efficiency. In response to the above problems, a zinc pot slag path planning method based on the greedy algorithm is proposed in this paper. The zinc pot area is divided, the image processing method is used to identify and locate the zinc slag to be picked. And the priority of the zinc pot, the obstacle avoidance problem and the restriction of the weight limit of the slag-removing tool are proposed in combination with the process requirements. Then three salvage strategies based on the greedy algorithm, the shortest distance, the maximum weight, and the minimum weight are proposed respectively. Experimental results show that the greedy algorithm strategy based on the shortest distance performs best, consumes the least energy, and the algorithm runs for a shorter time. It can significantly improve the efficiency of zinc pot slag removal, realize intelligent control of slag removal technology, and can be applied to the actual production of zinc pot slag removal.