Research On Vision Guiding Control Application In Turbine Blade Repairing Robot

The repair and preservation work of the turbine blades is the international problem for all the hydro power plant. Introducing and exploring a repair robot used for welding and grinding on the turbine blades is very useful for those plants. In order to increase the welding and grinding automatic level, position guiding part is indispensable. This paper takes projects of province and city for tackling key problem as research background and applied vision control method to guide turbine blade repairing robot arm. This work made basis for further exploring vision intelligent technique in turbine blade repairing robots.Due to the teaching and redisplaying property of the Scompi robot, this paper presents an image-based vision control strategy without calibration, which adapt to working spot of turbine blade repairing robot and own practical perspective. In this paper, some efficient schemes are presented to resolve the problem that estimated image Jacobian deteriorates over time in image-based visual servoing control approach without calibration. The most effective method is using "exploratory motion", which considerably improve the precision and velocity of vision guiding. To resolve the task of information extracting of image property in robot visual servo, this paper designed a serial of digital image process algorithms with certain robustness according for the property of work environments. Applying the presented algorithms, the information of markers in natural background is obtained accurately, and successfully extracted target image property information in experiments. To validate presented algorithm, we perform simulation and experiments on a six-DOF robot system. Experimental results illustrate presented method has the function to fulfill the task of robot initial positioning with certain anti-jamming ability.