The angle adjustment method of the cleaning end effector for the surface of rocket tank based on machine vision

Abstract

Abstract According to the actual engineering needs, the angle adjustment method of cleaning end effector for the surface of rocket tank was studied. In this paper, the PID control model was established to adjust the angle. Through the image processing algorithm, the angle between the robot cleaning end plane and the rocket tank surface was measured. Taking the angle as the controlt arget, the angle θ measured by the visual real-time is used as the feedback information, and the PI algorithm is used as the angle adjustment method. The experimental platform for angle measurement is built. After experimental verification, the method of angle measurement based on machine vision can meet the actual demand and the angle adjustment method is feasible, which is of great significance for realizing the cleaning automation of rocket tanks. This method can greatly improve the cleaning efficiency for the rocket tank surface.